Specify multiple inequalities in form A*x<=b (>=) for default mpc problem
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Should be simple enough, but I could not find it:
Is there a way to specify inequality constraints for a manipulated variable of dimension M for N prediction steps (varying number of constraints for each prediction step), i.e. I want to be able to specify matrices A,b (where size(A,2)=N*M, see here) for the whole horizon and not for each prediction step separately, as can be achieved using setconstraint.
Appreciate any help!
Arkadiy Turevskiy on 15 Aug 2018
I am afraid you cannot do more than setconstraint allows. Could you please explain why you need to vary number of constraints from one prediction step to another?