control.optimal.input_poly_constraint
- control.optimal.input_poly_constraint(sys, A, b)[source]
Create input constraint from polytope
Creates a linear constraint on the system input of the form A u <= b that can be used as an optimal control constraint (trajectory or terminal).
- Parameters
sys (InputOutputSystem) – I/O system for which the constraint is being defined.
A (2D array) – Constraint matrix
b (1D array) – Upper bound for the constraint
- Returns
constraint – A tuple consisting of the constraint type and parameter values.
- Return type
tuple