setConstraint

Purpose

Adds a polyhedral constraint

Syntax


Description

This filter adds polyhedral constraints ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint1.png for all ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint2.png 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 ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint3.png 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 ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint4.png of the new constraint ../../../../../fig/mpt/modules/ui/@SystemSignal/filter_setconstraint5.png can then be specified in the setConstraint property of the signal:

model.x.setConstraint = Polyhedron(...)

To remove this filter, call model.x.without('setConstraint').


© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk