scaleInitialSet

scale the initial set so the goal set is reached

Contents

Syntax

[R0opt,RcontOpt] = scaleInitialSet(sys,R0,H,goalSet,U,Opts)

Description

This function scales the initial set for reachability analysis in such a way that the final reachable set is located inside the goal set.

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

goalSet

goal set that should be reached (class: zonotope)

U

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

Opts

structure containing the following options

.iter

number of iterations for optimization

Output Arguments

R0opt

scaled initial set (class: zonotope)

RcontOpt

cell-array storing the time interval reachable set for the final solution

See Also

safetyNetControl


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