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Constraint to state derivatives with NLMPC

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Hi everyone,
Is there a way to constraint state derivatives when using nlmpc? Would it be possible to specify equality constraints such that state derivatives should be equal to zero at all times?
Thank you.

Accepted Answer

Emmanouil Tzorakoleftherakis
See here for all available constraint options with nlmpc. If the state derivatives you need are part of the state vector, you can set custom equality constraints as needed.

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