exactControlLaw
implements the nonlinear control law
Contents
Syntax
Description
This function implements the nonlinear control law which is based on exact convex combinations (see Sec. 4 in [1]).
Input Arguments
x |
system states x (dimension: [nx,1]) |
zonoR |
parallelotope for which the control law should be calculated |
uCorner |
matrix storing the optimal control inputs for the parallelotope vertices (dimension: [nu,2^nx]) |
Output Arguments
u |
resuling control input = value of the control law (dimension: [nu,1]) |
See Also
convexInterpolationControl, dynamicsClosedLoopExact
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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