MPC Constraint Projection

Problem

Project a control sequence onto box and rate constraints.

First clamp every control into [lo, hi], then enforce the slew-rate limit |u_i - u_{i-1}| <= rate sequentially from left to right. Return the projected list.

Hint

Box clipping comes first; rate limiting then sees the clipped values.

Test cases

case 1

in: [[0,5,-5],-1,1,0.5]

expected: [0,0.5,0]

case 2

in: [[0,0.1,0.2],-1,1,0.05]

expected: [0,0.05,0.1]

case 3

in: [[0],-1,1,0.5]

expected: [0]

Starter codePython

def mpc_project(u, lo, hi, rate):
    # Your code here
    pass

3 test cases · run your code against them in the editor