Specify multiple inequalities in form A*x<=b (>=) for default mpc problem

Should be simple enough, but I could not find it:

Is there a way to specify inequality constraints for a manipulated variable of dimension M for N prediction steps (varying number of constraints for each prediction step), i.e. I want to be able to specify matrices A,b (where size(A,2)=N*M, see here) for the whole horizon and not for each prediction step separately, as can be achieved using setconstraint.

Appreciate any help!

Answer 1

[Arkadiy Turevskiy]

I am afraid you cannot do more than setconstraint allows. Could you please explain why you need to vary number of constraints from one prediction step to another?

Thanks.

Arkadiy Turevskiy

MathWorks