约束强制

查找满足指定边界和其他约束的控制动作
自 R2021a 起

一些控制应用情形要求控制器选择控制动作，以使被控对象状态不违反某些关键约束。在许多情况下，约束会作用于控制器不直接控制的被控对象状态。但您可以定义一个约束函数，该函数根据控制动作信号来定义约束。

Simulink^® Control Design™ 软件为此类应用情形提供了以下约束强制方法。

此功能需要 Optimization Toolbox™ 软件，以计算在约束和动作边界下最接近指定控制动作的修正控制动作。

模块

Constraint Enforcement	Modify control actions to satisfy constraints and action bounds
Barrier Certificate Enforcement	Modify control actions to satisfy barrier certificate constraints and action bounds (自 R2022a 起)
Passivity Enforcement	Modify control actions to satisfy passivity constraints and action bounds (自 R2023a 起)

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.

Barrier Certificate Enforcement for Control Design
Modify control actions to satisfy barrier certificate constraints and action bounds.
Enforce Barrier Certificate Constraints for PID Controllers
Apply barrier certificate constraints to a PID control application using the Barrier Certificate Enforcement block.
Enforce Barrier Certificate Constraints for Adaptive Cruise Control
Enforce barrier certificate constraints for adaptive cruise control to maintain velocity and following distance.
Enforce Barrier Certificate Constraints for Collision-Free Robots
Enforce barrier certificate constraints for two robots to reach their target positions in collision-free manner.
Enforce Barrier Certificate Constraints for Collision-Free Multi-Robot System
Enforce barrier certificate constraints for three robots to reach their target positions in collision-free manner.

Passivity Enforcement for Control Design
Modify control actions to satisfy passivity constraints and action bounds.
Enforce Passivity Constraints for Quadruple-Tank System
Enforce passivity constraints for water height control in a quadruple tank system.
Enforce Passivity Constraint for Flexible Beam
Enforce passivity constraints for vibration control in a flexible beam.

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.