control.optimal.state_range_constraint

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

Create state constraint from polytope

Creates a linear constraint on the system state 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.

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

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

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

Returns

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

Return type

tuple