Code covered by the BSD License  

Highlights from
Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription

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from Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription by James Allison
A toolbox for using Direct Transcription to perform combined plant and control design.

calc_state_constraints(t, xd, xu, stateCon) 
function y = calc_state_constraints(t, xd, xu, stateCon)

y1 = stateCon.fun(xd, xu);
m = length(y1);
y = zeros(m, length(t));
for i=1:length(t)
    y_i = stateCon.fun(xd, xu(:,i));
    y(:,i) = reshape(yi, m,1);
end
end

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