Is it possible to update the input upper and lower bounds in the loop, similar to how ocp.set(‘constr_lbx’) works? I’d like to change the input constraints between NMPC iterations based on the current state of the system. Ideally something like ocp.set(‘constr_ubu’) would be nice. I see that I can achieve a similar effect with C and D matrices and a linear constraint, but I’d prefer not to introduce another linear constraint if I can just impose a bound.
I just added this setter:
Thank you for the quick reply, this is just what I needed, and seems to be working well!