Formulation with the constraints in different time step

Hi,

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

e.g.

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)?

Thanks

Hi,

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:

Cheers!