control.optimal.input_range_constraint(sys, lb, ub)[source]

Create input constraint from polytope

Creates a linear constraint on the system input that bounds the range of the individual states to be between lb and ub. The upper and lower bounds can be set of inf and -inf to indicate there is no constraint or to the same value to describe an equality constraint.

  • sys (InputOutputSystem) – I/O system for which the constraint is being defined.

  • lb (1D array) – Lower bound for each of the inputs.

  • ub (1D array) – Upper bound for each of the inputs.


constraint – A tuple consisting of the constraint type and parameter values.

Return type