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Constraint Enforcement

Find control actions that satisfy specified bounds and other constraints
Since R2021a

Some control applications require the controller to select control actions such that the plant states do not violate certain critical constraints. In many cases, the constraints are on plant states that the controller does not control directly. Instead, you define a constraint function that defines the constraint in terms of the control action signal.

Simulink® Control Design™ software provides the following constraint enforcement methods for such applications.

  • Specify constraints as a function of plant states.

  • Specify constraints using control barrier functions.

  • Specify passivity constraints.

This functionality requires Optimization Toolbox™ software to compute the modified control actions that are closest to specified control actions, subject to constraints and action bounds.


Constraint EnforcementModify control actions to satisfy constraints and action bounds
Barrier Certificate EnforcementModify control actions to satisfy barrier certificate constraints and action bounds (Since R2022a)
Passivity EnforcementModify control actions to satisfy passivity constraints and action bounds (Since R2023a)


Constraint Enforcement Basics

Barrier Certificate Enforcement

Passivity Enforcement

Reinforcement Learning Applications