setConstraint
Purpose
Adds a polyhedral constraint
Syntax
Description
This filter adds polyhedral constraints
for all
to the MPC setup. The filter can be
applied to arbitrary signals, be it state, input, or output
variables.
Note, however, that adding this filter to a state variable will
NOT add the constraint on the final predicted state (only
quantities on prediction steps
are
affected by this filter). To add a polyhedral terminal state
constraint, use the terminalSet filter (see "help
SystemSignal/filter_terminalSet").
To enable the filter, first use
model.x.with('setConstraint') (you can replace the
x signal by any other signal of the prediction model).
The polyhedron
of the new constraint
can
then be specified in the setConstraint property of the
signal:
model.x.setConstraint = Polyhedron(...)
To remove this filter, call model.x.without('setConstraint').
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filter_softmin |
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filter_reference |
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© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk