control.optimal.disturbance_range_constraint

control.optimal.disturbance_range_constraint(sys, lb, ub)

Create constraint for bounded disturbances

This function computes a constraint that puts a bound on the size of input disturbances. The output of this function can be passed as a trajectory constraint for optimal estimation problems.

Parameters

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

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

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

Returns

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

Return type

tuple