generate_constraints.asv

function rmpc_constraints = mpc_matrices(problem)

N = problem.system.N;
n = problem.system.n;
% Inequality constraints

c = blkdiag(kron(eye(N), problem.constraints.C), problem.constraints.G);
d = [kron(eye(N), problem.constraints.D); zeros(size(problem.constraints.G,1) , N) ];
a = [c d];
e = zeros(size(n, 1), size(a,2));
e(1:size(problem.constraints.E,1),1:size(problem.constraints.E,2)) = -problem.constraints.E;
b = kron(ones(N,1),problem.constraints.e);
cin = zeros(N*size(problem.constraints.C,1) + size(problem.constraints.G,1), n);



rmpc_constraints.Ain = [a; a3];
rmpc_constraints.Bin = [b;-problem.constraints.E];
rmpc_constraints.cin = [c; problem.constraints.h; problem.constraints.f];


% Equality constraints Aeq + Beq x = ceq
%                      Aeq [z v] = ceq - Beq x
%                      -A z_k + z_k+1 - B v_k = 0, k \in R_L-1
a = [kron(eye(N), -problem.system.A) zeros(n*N, n)] + ...
     [zeros(n*N, n) kron(eye(N), eye(n))];
b = kron(eye(N), -problem.system.B);

rmpc_constraints.Aeq = [a b];
rmpc_constraints.Beq = zeros(N*n, 1);