# fixed_stateInputContainment

sets up the containment-based constraints on the state and input for the linSys algorithm, with fixed terminal set

## Contents

- Syntax
- Input Arguments
- Description

## Syntax

[variables, constraints] = fixed_stateInputContainment(optsInternal, containmentType, Rtp, Rti, utotal, preH, s)

## Input Arguments

Rtp: cell array of structs describing the time-point solutions

Rti: cell array of structs describing the time-interval solutions

utotal: cell array of structs describing the input

terminalSet: terminal set, as computed by fixed_terminalSet

## Description

This function prepares the necessary constraints needed to solve the optimization problem for the containmentLinSys algorithm, assuming one uses Yalmip.

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