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Constraint Enforcement

Find control actions that satisfy specified bounds and other constraints

Some control applications require the controller to select control actions such that the plant states do not violate certain critical constraints. In many cases, the constraints are on plant states that the controller does not control directly. Instead, you define a constraint function that defines the constraint in terms of the control action signal.

Simulink® Control Design™ software provides the Constraint Enforcement block for such applications. This block uses Optimization Toolbox™ software to compute modified control actions that are closest to specified control actions subject to constraints and action bounds.

Blocks

Constraint EnforcementModify control actions to satisfy constraints and action bounds

Topics

Constraint Enforcement Basics

Constraint Enforcement for Control Design

You can modify control actions in real-time to satisfy constraints and action bounds.

Enforce Constraints for PID Controllers

Apply a known constraint function to a PID control application using the Constraint Enforcement block.

Learn and Apply Constraints for PID Controllers

Learn and apply an unknown constraint function for a PID control application using the Constraint Enforcement block.

Reinforcement Learning Applications

Train Reinforcement Learning Agent with Constraint Enforcement

Train a reinforcement learning agent with actions constrained using the Constraint Enforcement block.

Train RL Agent for Adaptive Cruise Control with Constraint Enforcement

Train a reinforcement learning agent for adaptive cruise control with enforced constraints on velocity and following distance.

Train RL agent for Lane Keeping Assist with Constraint Enforcement

Train a reinforcement agent for lane keep assist with enforced constraints on lateral deviation.