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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.

calculateControlBounds(nt, nx, nu, ulb, uub)
function [lb,ub] = calculateControlBounds(nt, nx, nu, ulb, uub)
% CalculateControlBounds compute two vectors for control upper and lower
% bounds
n = nt * (nx + nu);
lb = -inf(n,1);
ub = inf(n,1);

for i=1:nt
    lb((i-1)*(nx+nu)+nx+1:(i-1)*(nx+nu)+nx+nu) = ulb;
    ub((i-1)*(nx+nu)+nx+1:(i-1)*(nx+nu)+nx+nu) = uub;
end

end

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