# constraintfunctionQuad

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

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## 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

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

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