In this section, lower and upper bounds (i.e., box constraints) can be set for the state and control variables, the control parameters, the initial and final time, and for the nonlinear inequality constraints S from Equation (3).
This option only works with NPSOL and NLSSOL but not with NLSCON.
The syntax for setting bounds is
variable = value of the lower bound value of the upper bound
If an upper bound is unconstrained then a value
greater or equal to
As variable one may use:
has to be set.
Or, if a lower bound is unconstrained then
a value less or equal to 
has to be set.
