Set mixed input/output constraints for model predictive controller

`setconstraint(`

specifies mixed input/output constraints of the following form for the MPC controller,
`MPCobj`

,`E`

,`F`

,`G`

)`MPCobj`

:

*E**u*(*k* +
*j*|*k*) +
*F**y*(*k* +
*j*|*k*) ≤ *G* +
*ε*

The outputs,

*y*, are being predicted using a model. If the model is imperfect, there is no guarantee that a constraint can be satisfied.Since the MPC controller does not optimize

*u*(*k*+*p*|*k*), the last constraint at time*k*+*p*assumes that*u*(*k*+*p*|*k*) =*u*(*k*+*p*–1|*k*).When simulating an MPC controller, you can update the

`E`

,`F`

,`G`

, and`S`

constraint arrays at run time. For more information, see Update Constraints at Run Time.