checkConstraints
check if the input and state constraints are satisfied
Contents
Syntax
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
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R |
cell-array storing the reachable set |
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K |
feedback matrix for the control law u = u_ref + K(x-x_ref) |
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u_ref |
reference input for the control law u = u_ref + K(x-x_ref) |
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Opts |
structure containing the following options
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Output Arguments
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c |
amount of violation for the inequality constraints (c <= 0: no violation) |
See Also
optimizationBasedControl, conFun
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