checkInputConstraints
check if the controller satisfies the input constraints on all reachable sets
Contents
Syntax
Description
This function checks if the given controller satisfies the input constraints on the corresponding reachable set of the controlled system.
Input Arguments
R |
Reachable set of the controlled system for the whole time interval |
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k |
Feedback matrix for the tracking controller (dimension: [nu,nx]) |
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u |
Optimal control inputs for the center trajectory (dimension: [nu,N]) |
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Opts |
a structure containing following options
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Output Arguments
res |
Flag that specifies if all constraints are satisfied (0 or 1) |
See Also
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