control.optimal.state_poly_constraint
- control.optimal.state_poly_constraint(sys, A, b)[source]
Create state constraint from polytope.
Creates a linear constraint on the system state of the form A x <= 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.
- A2D array
Constraint matrix.
- b1D array
Upper bound for the constraint.
- sys
- Returns
- constrainttuple
A tuple consisting of the constraint type and parameter values.