# constraintfunctionFmincon

constraints for the optimal control problems if solved with FMINCON

## Contents

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

## Syntax

[c,ceq] = constraintfunctionFmincon(y, nx, nu, N, dt, x0, dynamics)

## Description

This function determines whether or not the constraints for the optimal control problems are satisfied, for the case that the optimal control problmes are solved with Matlab build-in function FMINCON

## Input Arguments

y | parameter vector for the optimization problem (y = [x,u])
nx | number of system states x
nu | number of control inputs u
N | number of time steps for the optimal control problem
dt | time step size for the optimal control problem
x0 | initial state at the beginning of the optimal control problem
dynamics | function handle pointing to the function that implements the system dynamics

## Output Arguments

c | amount of constraint violation for greater than constraints
ceq | amount of constraint violation for equality constraints

## See Also

`convexInterpolationControl`, `optimalControlFmincon`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

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