Constrain the norm of output variables in MPC controller

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Nishanth Rao
Nishanth Rao 2021년 7월 10일
편집: Nishanth Rao 2021년 7월 10일
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.
How can I use the object to set this constraint?
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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