exactControlLaw

implements the nonlinear control law

Contents

Syntax

u = exactControlLaw(x,zonoR,uCorner)

Description

This function implements the nonlinear control law which is based on exact convex combinations (see Sec. 4 in [1]).

Input Arguments

x

system states x (dimension: [nx,1])

zonoR

parallelotope for which the control law should be calculated

uCorner

matrix storing the optimal control inputs for the parallelotope vertices (dimension: [nu,2^nx])

Output Arguments

u

resuling control input = value of the control law (dimension: [nu,1])

See Also

convexInterpolationControl, dynamicsClosedLoopExact

References


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