checkInputConstraints

check if the controller satisfies the input constraints on all reachable sets

Contents

Syntax

[res,maxVal,minVal,Rdiff] = checkInputConstraints(R,Umax,Umin,k,uCenter,scaleFact,options)

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

k

Feedback matrix for the tracking controller (dimension: [nu,nx])

u

Optimal control inputs for the center trajectory (dimension: [nu,N])

Opts

a structure containing following options

.nx

number of states

.nu

number of inputs

.uMax

upper bound for the input constraints

.uMin

lower bound for the input constraints

Output Arguments

res

Flag that specifies if all constraints are satisfied (0 or 1)

See Also

reachsetMPC


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