constraintfunctionQuad

constraints for the optimization problem to determine the parameter of the quadratic control law

Contents

Syntax

[c, ceq] = constraintfunctionQuad(y, nx, uMax, uMin)

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


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