computeQuadraticControlLaw
Compute the parameter of the quadratic control law
Contents
Syntax
Description
This function computes a zonotope for the input values. This zonotope is a linear approximation of the exact control law.
Input Arguments
uCorner |
optimal control inputs for the corner trajectories (dimension: [nu,2^nx]) |
zonoR |
parallelotope which is an overapproximation of the initial zonotope zono (class zonotope) |
Opts |
structure containing user defined options for the algorithm |
Output Arguments
params |
vector storing the parameter of the quadratic control law (dimension: [nu*(2*nx+1),1]) |
See Also
convexInterpolationControl, computeQuadraticController
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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