%% checkInputConstraints
% check if the controller satisfies the input
% constraints on all reachable sets
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [res,maxVal,minVal,Rdiff] = checkInputConstraints(R,Umax,Umin,k,uCenter,scaleFact,options) <br>
%        </div>
% </html>
%
%% Description
% This function checks if the given controller satisfies the input
% constraints on the corresponding reachable set of the controlled
% system.
%
%% Input Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            R
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Reachable set of the controlled system for the whole
%            time interval
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            k
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Feedback matrix for the tracking controller
%            (dimension: [nu,nx])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            u
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Optimal control inputs for the center trajectory
%            (dimension: [nu,N])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing following options
%        </p>
%        <p class="table">
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .nx
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of states
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .nu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of inputs
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uMax
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            upper bound for the input constraints
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uMin
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            lower bound for the input constraints
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            res
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Flag that specifies if all constraints are satisfied
%            (0 or 1)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <reachsetMPChelp.html |reachsetMPC|>
%

%%
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%        <tt class="minicdot">&#149;</tt>
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