computeAlpha
compute the control law for generator space control
Contents
Syntax
Description
Computes the control law for one time step by solving an optimal control problem in a set based manner for the control algorithm that is based on optimal control in generator space (see Eq. (12) and (13) in [1]).
Input Arguments
R0 |
initial set of states (class: zonotope) |
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A |
cell-array storing the system matrices of the linearized discrete time system |
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B |
cell-array storing the input matrices of the linearized discrete time system |
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c |
cell-array storing the constant offsets of the linearized discrete time system |
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xf |
cell-array storing the goal states for all time steps |
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iter |
current time step |
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Opts |
a structure containing the algorithm settings
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Output Arguments
alpha |
computed control law parameters alpha |
See Also
References
- [1] Schuermann et al. (2017), Guaranteeing constraints of disturbed nonlinear systems using set-based optimal control in generator space
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