control.optimal.input_range_constraint
- 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
lbandub. 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.
- lb1D array
Lower bound for each of the inputs.
- ub1D array
Upper bound for each of the inputs.
- sys
- Returns
- constrainttuple
A tuple consisting of the constraint type and parameter values.