Formulation with the constraints in different time step


if anyone has the ideal, if I would like to set a constrain for a state between different time steps,


x(t) - x(t+1) <= $\lambda$ [\lambda is not a function of x, but it should be estimated during the OCP]

Furthermore, if \lambda has a more complex structure, like \lambda(t, i). Should I set the \lambda as a state with the dimension ca.SX.sym(‘lambda’, N, I) or just ca.SX.sym(‘lambda’, I)?



unfortunately, the constraint you want to implement is not really clear to me.
What does it mean that a value should be “estimated in the OCP”?

This definitely seems relevant for you though: