objGenSpaceContr

construct a controller object for the synthesis algorithm based on optimal control in generator space

Contents

Syntax

obj = OBJGENSPAECONTR(dyn,Rfin,contrLaw,Param)
obj = OBJGENSPAECONTR(dyn,Rfin,contrLaw,Param,occSet)

Description

Constructor of the controller object for the synthesis algorithm based on optimal control in generator space. The object stores all computed data from the offline-phase of the algorithm. The controller object can be used to simulate the online-phase of the algorithm.

Input Arguments

dyn

function handle to the dynamic function of the open-loop system

Rfin

final reachable set

contrLaw

a structure containing the control law parameter

.N

number of time steps

.Ninter

number of intermediate time steps

.alpha

cell-array storing the factors alpha of the control law for each intermediate time step

.P

cell-array storing a parallelotope enclosure of the reachable set for each time step

Param

a structure containing the benchmark parameters

.R0

initial set of states (class: interval)

.xf

goal state

.tFinal

final time after which the goal state should be reached

.U

set of admissible control inputs (class:; interval)

.W

set of uncertain disturbances (class: interval)

occSet

cell-array storing the occupancy set

Output Arguments

obj

resulting object of class objGenSpaceContr

See Also

generatorSpaceControl


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