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 Constraint Enforcement block for such applications. This block uses Optimization Toolbox™ software to compute the modified control actions that are closest to specified control actions subject to constraints and action bounds.
|Constraint Enforcement||Modify control actions to satisfy constraints and action bounds|
Constraint Enforcement Basics
You can modify control actions in real-time to satisfy constraints and action bounds.
Apply a known constraint function to a PID control application using the Constraint Enforcement block.
Learn and apply an unknown constraint function for a PID control application using the Constraint Enforcement block.
Reinforcement Learning Applications
Train a reinforcement learning agent with actions constrained using the Constraint Enforcement block.
Train a reinforcement learning agent for adaptive cruise control with enforced constraints on velocity and following distance.
Train a reinforcement agent for lane keep assist with enforced constraints on lateral deviation.