reachSetGenSpaceContr
computes the reachable set for one time step
Contents
Syntax
Description
This function computes the reachable set of the controlled system for one time step of the controller that is based on optimal control in generator space.
Input Arguments
sys |
object with the closed-loop dynamics (class: nonlinearSys) |
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R |
initial set (class: zonotope) |
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P |
parallelotope enclosure of the initial set (class: zonotope) |
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alpha |
cell-array storing the control law for the time step |
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Opts |
a struct containing the following fields
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Output Arguments
A |
cell-array storing the system matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c |
B |
cell-array storing the input matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c |
c |
cell-array storing the constant offset of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c |
xf |
cell-array storing the goal states for each time step |
See Also
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