Update constraints in acados

Hi everyone.

I am using ACADOS with MATLAB interface.
I am using ACADOS to implement MPC and I want to change the lower and upper bands of the control inputs during the prediction horizon N. I mean from 1,2,…,N these bands change and at each iteration, this process should repeat in the main loop. How can I achieve this?


you can use solver.set() with field “lbu”/ “ubu”, stage and your desired value.