# stateAndInputConstraints

compute state and input constraints

## Contents

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

## Syntax

con = stateAndInputConstraints(Param,Opts,R,auxTerm,initSet)

## Description

This function computes augmented state and input constraints for the whole time horizon Opts.N. The constraints are fulfilled if the output variable con <= 0.

## Input Arguments

Param | a structure containing the benchmark parameters
.U | set of admissible control inputs (class: interval or zonotope)
.W | set of uncertain disturbances (class: interval or zonotope)
.V | set of measurement errors (class: interval or zonotope)
.X | set of state constraints (class: mptPolytope)
Opts | a structure containing following options
.TpOrTi | consider reachable sets at time point only (Opts.TpOrTi = `'Tp'`) or also the time interval reachable sets (Opts.TpOrTi = `'Ti'`)
.Tdomain | search domain for the terminal region (class:; interval)
.N | number of time steps
R | cell-array containing overall reachable sets
auxTerm | cell-array containing auxiliary terms for the curvature of the time interval reachable set
initSet | initial set

## Output Arguments

con | vector storing the resulting constraints

## See Also

`reachControlledLTISystem`, `computeTermRegZonoLinSys`

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