Rate of change constraint on states

[RFTV93]

Hi All,

I'm implementing NMPC using Casadi. I'm/was new to Casadi, so in the beginning I read a lot about it. I'm sure I read somewhere, you can really easily implement rate of change constraints (on states and/or inputs), but I'm unable to find that article/question back. 

I can remember it was something similar to this:

% Regular state constraints

lbx = -1;

ubx = 1;

% Rate of change constraints on states

lbdx = -10;

ubdx = 10;

Can somebody help me how to define these?

Thanks in advance,

RFTV.

[Joris Gillis]

You'll need to provide some boilerplate code of what you have already.

Rate-of-change of states is just the right-hand side of the system ODE.

So you may e.g. add constraints on the ODE function evaluated on a grid.

Best regards,

  Joris