computeFinalReachSet

compute the reachable set using the optimized control law parameters

Contents

Syntax

[res,reachSet,R,K] = computeFinalReachSet(xOpt,Opts)

Description

This function computes the reachable set using the optimized control law parameters from the optimization based control algorithm.

Input Arguments

xOpt

optimized weigthening matrices

Opts

structure containing the following options

.R0

intial set (class: zonotope)

.linModel

structure containing the system matrices of the uncontrolled system

.sys

parametric system object storing the closed-loop dynamics (class: nonlinParamSys)

.ReachOpts

structure containing the settings for reachability analysis

.uc

center trajectory control inputs

Output Arguments

res

flag specifying if the constraints are satisfied (1 if satisfied, 0 if not)

reachSet

object storing the reachable set (class: reachSet)

R

cell-array storing the time point reachable set

K

cell-array storing the feedback matrices for all time steps

See Also

optimizationBasedControl


© 2018-2020 I6 Technische Universität München Website License

logoAroc logoCora logoChair logoTum