computeInputZonotope
Compute a zonotope approximating the inputs
Contents
Syntax
Description
This function computes a zonotope for the input values. This zonotope corresponds the linear control law evaluated on the state zonotope (see Sec. 5 in [1]).
Input Arguments
uCorner |
optimal control inputs for the corner trajectories (dimension: [nu,2^nx]) |
uCenter |
optimal control inputs for the center trajectory (dimension: [nx, Opts.Nc]) |
zonoR |
parallelotope which is an overapproximation of the initial zonotope zono (class zonotope) |
Opts |
structure containing user defined options for the algorithm |
Output Arguments
c |
center of the input zonotope |
G |
generator matrix of the input zonotope |
See Also
convexInterpolationControl, computeLinearController
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
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