# checkInputConstraints

check if the controller satisfies the input constraints on all reachable sets

## Contents

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

## Syntax

[res,maxVal,minVal,Rdiff] = checkInputConstraints(R,Umax,Umin,k,uCenter,scaleFact,options)

## Description

This function checks if the given controller satisfies the input constraints on the corresponding reachable set of the controlled system.

## Input Arguments

R | Reachable set of the controlled system for the whole time interval
k | Feedback matrix for the tracking controller (dimension: [nu,nx])
u | Optimal control inputs for the center trajectory (dimension: [nu,N])
Opts | a structure containing following options
.nx | number of states
.nu | number of inputs
.uMax | upper bound for the input constraints
.uMin | lower bound for the input constraints

## Output Arguments

res | Flag that specifies if all constraints are satisfied (0 or 1)

## See Also

`reachsetMPC`

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