# checkConstraints

check if the input and state constraints are satisfied

## Contents

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

## Syntax

c = checkConstraints(R,K,u_ref,Opts)

## Description

This function checks if the reachable set satisfies the state and input constraints. The function returns a vector that specifies how much each constraint is violate, where c < 0 means that all constraints are satisfied.

## Input Arguments

R | cell-array storing the reachable set
K | feedback matrix for the control law u = u_ref + K(x-x_ref)
u_ref | reference input for the control law u = u_ref + K(x-x_ref)
Opts | structure containing the following options
.stateCon | structure containing the state constraints
.inputCon | structure containing the input constraints
.nx | number of states
.nu | number of inputs

## Output Arguments

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

## See Also

`optimizationBasedControl`, `conFun`

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