How can i set the constraints on states rather than input and output in mpc?

I was trying to set constraints on states in a linear mpc model but i can't find anything or any approach how to set constraints on states?

Answer 1

[Emmanouil Tzorakoleftherakis]

For linear MPC, you can add constraints on inputs and outputs only. You can either set the desired states to also be outputs (if possible), or you could also try nonlinear MPC if it makes sense (state constraints are supported in nonlinear mpc).