# conFun

constraint function for nonlinear programming

## Contents

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

## Syntax

[c,ceq] = conFun(x,Opts)

## Description

This function computes the values of the constraints for a specific value for the control law parameters. For this, the reachable set is computed fist. Afterward, it is calculated how much the reachable set violates the constraints.

## Input Arguments

x | current value of the control law parameters
Opts | structure containing the following options
.linModel | structure containing the system matrices of the uncontrolled system
.ReachOpts | structure containing the settings for reachability analysis
.uc | center trajectory control inputs

## Output Arguments

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

## See Also

`optimizationBasedControl`, `costFun`

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