control.optimal.output_poly_constraint

control.optimal.output_poly_constraint(sys, A, b)

Create output constraint from polytope

Creates a linear constraint on the system ouput of the form A y <= 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