reachSafetyNetContr

compute reachable set for the Safety Net Controller

Contents

Syntax

[R, Rcont] = reachSafetyNetContr(sys,R0,H,U,Opts)

Description

This function computes the forward reachble set for one time step of the Safety Net Controller.

Input Arguments

sys

object that represents the dynamics of the closed-loop system (class: nonlinParamSys)

R0

initial set (class: zonotope)

H

matrix storing the generator-to-input assignment

U

cell-array containing the sets of admissble control inputs for all intermediate time steps

Opts

structure containing the following options

.Ninter

number of intermediate time steps

.nu

number of inputs

.nx

number of states

.nGen

number of generators

.ReachSteps

number of reachability steps

.ReachOpts

settings for reachability analysis with the CORA toolbox

Output Arguments

R

final reachable set (class: polyZonotope)

Rcont

object storing the reachable sets (class: reachSet)

See Also

safetyNetControl


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