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Set custom constraints on linear combinations of plant inputs and outputs

```
[E,F,G,V,S]
= getconstraint(MPCobj)
```

`[`

returns the
custom constraints previously defined for the MPC controller, `E`

,`F`

,`G`

,`V`

,`S`

]
= getconstraint(`MPCobj`

)`MPCobj`

.
The constraints are in the general form:

*E** u*(

where * j* =
0,...,

is the prediction horizon.*p*is the current time index.*k*is a column vector manipulated variables.*u*is a column vector of all plant output variables.*y*is a column vector of measured disturbance variables.*v*is a scalar slack variable used for constraint softening (as in Standard Cost Function).*ε*,*E*,*F*,*G*, and*V*are constant matrices.*S*

Since the MPC controller does not optimize * u*(

`getconstraint`

calculates
the last constraint at time *k*+*p*

assuming
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