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

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

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A toolbox for using Direct Transcription to perform combined plant and control design.

StateConstraint
classdef StateConstraint
    % A state constraint is a nonlinear constraint for state trajectories
	% A state constraint must be satisfied for all time points under
	% consideration.
	% 
    properties
        
        % An must implements nonlinear constraint g(xd, x) <= 0
        fun
        
        % An must implements the Jacobian of the nonlinear
        % constraint
        % [ J_d, J_s] = jacobian(xd, x)
        jacobian
        
        % To-do: Hessian of the Lagrangian 
        hessian
    end
    
end

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