[fk] = no_f(k, xk)
[fk, Fk] = no_f(k, xk)
\[so that the condition
f_k ( x_k ) \equiv -1
f_k ( x_k ) \leq 0is satisfied for all
xkspecifies the current state vector (only used to determine the size of the state vector at each time point).
fkis a scalar equal to minus one.
Fkis a row vector equal to the Jacobian of
xk; i.e. zero.
function [fk, Fk] = no_f(k, xk) % no constraint case: f(x) = -1 for all x n = size(xk, 1); fk = -1; Fk = zeros(1, n); return end