conFunNonlin

constraint function for nonlinear programming (nonlinear system)

Contents

Syntax

cost = conFunNonlin(x,Opts)

Description

This function computes the values of the constraints for a specific value for the control law parameters. For this, the reachable set is computed fist. Afterward, it is calculated how much the reachable set violates the constraints.

Input Arguments

x

current value of the control law parameters

Opts

structure containing the following options

.sys

parametric system object storing the closed-loop dynamics (class: nonlinParamSys)

.ReachOpts

structure containing the settings for reachability analysis

.uc

center trajectory control inputs

Output Arguments

c

amount of violation for the inequality constraints (c <= 0: no violation)

ceq

amount of violation for the equality constraints (c == 0: no violation)

See Also

optimizationBasedControl, costFunLin


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