Code covered by the BSD License
 ...
Quartercar new objective with design and state constraints
 calc_state_constraints(t,...
 calc_zdot(x, z, v)
 calculateControlBounds(nt...CalculateControlBounds compute two vectors for control upper and lower
 checkSolver(obj)checkSolver checks the solver option for appropriate settings.
 computeStateConstraints(o...computeStateConstraints computes the state constraints and Jacobian
 defectEquation(system, in...DEFECTEQUATION computes the discretized defect equation for an ODE system
 dtOutput(obj, n, x, optim...dtOutput saves the intermediate result of direct transcription
 evaluateStateConstraints(...evaluateStateConstraints computes inequality state constraints for the given
 fillInStateConstraint(G, ...fillInStateConstraint fill in the state constraint at a given offset
 hessian_x(Fun, x0, varargin)Finite difference evaluation of the Hessian of a function
 lookup_u(tu, t)
 myplot_results(platform)Generate plots from saved results
 myplot_signal(varargin)myplot_signal format the plot using a few standard formatting
 myplot_ylabel(s)
 perturb_x(fun, x0, varargin)Finite difference
 simple_sys()A very simple system for testing purposes
 test_simple_sys()Test various stuff in the solver library
 test_solver_misc()Test various stuff in the solver library
 DTSolverWithInputsDTSOLVERWITHINPUTS Direct transcription solver for systems with open
 DesignConstraint
 InitCondition
 ObjectiveAn objective function formulated for state trajectories
 OptionFactory
 SequentialSolverWithInputsSolve optimization for design variable xd
 StateConstraint
 SystemA System is essentially an ODE system, it must implements a derivative method
 demo_qcar_dt.m% Authors: James T. Allison, Assistant Professor, University of Illinois at UrbanaChampaign, Zhi Han, Tinghao Guo
 demo_qcar_sequential.m% Authors: James T. Allison, Assistant Professor, University of Illinois at UrbanaChampaign, Zhi Han, Tinghao Guo
 run_comparison.mThis is a simple script to run demo_qcar and demo_qcar_sequential save

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Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription
by
James Allison
25 Feb 2013
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
% Todo: Hessian of the Lagrangian
hessian
end
end


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