I am using MPCTools package (from Rawlings group) in MATLAB to setup a Non Linear MPC problem and want to add inequality constraints in states and control (something like 2x1+5x2+9u1<=12 or f(x1,x2,u1)<=12) which needs to be satisfied at all times. These constraints need to be added in addition to bounding constraints on states, control and rate of change of control. How can I add these constraints?
I was able to add bounding constraints using lb.u, lb.x, however I do not know which field will have to be used for the above constraints
