constraintfunctionQuad
constraints for the optimization problem to determine the parameter of the quadratic control law
Contents
Syntax
Description
This function determines whether or not the quadratic control law satisfies the input constraints. The optimization problem to determine the quadratic control law is solved with the Matlab build-in function FMINCON
Input Arguments
y |
Parameter vector for the optimization problem (dimension: [nu*(2*nx+1),1]) |
nx |
Number of system states x |
uMax |
vector containing the upper bound of the input constraints |
uMin |
vector containing the lower bound of the input constraints |
Output Arguments
c |
amount of constraint violation for greater than constraints |
ceq |
amount of constraint violation for equality constraints |
See Also
convexInterpolationControl, optimalControlFmincon
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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