conFun

constraint function for nonlinear programming

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)

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

conFun

Contents

Syntax

Description

Input Arguments

Output Arguments

See Also