costFun

cost function for nonlinear programming

Contents

Syntax

cost = costFun(x,Opts)

Description

This function computes the costs for a specific value for the control law parameters. For this, the reachable set is computed and the distance of the final reachable set to the target state is computed as the cost.

Input Arguments

x

current value of the control law parameters

Opts

structure containing the following options

.linModel

structure containing the system matrices of the uncontrolled system

.ReachOpts

structure containing the settings for reachability analysis

.uc

center trajectory control inputs

Output Arguments

cost

value of the cost function

See Also

optimizationBasedControl, conFun

References


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