Constrain the norm of output variables in MPC controller
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I have a state vector
which is 3-dimensional vector. In the mathematical model, this vector should remain a unit vector. However, during the update of the state equation
and integrating it, there is a chance that
may no longer remain a unit vector.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/679658/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/679663/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/679658/image.png)
How can I use the
object to set this constraint?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/679673/image.png)
nlobj.OutputVariables(3)._____ = ? %x component of e_i
nlobj.OutputVariables(4)._____ = ? %y component of e_i
nlobj.OutputVariables(5)._____ = ? %z component of e_i
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