linearBackwardReach
backward reachable set for linearized system
Contents
Syntax
Description
This function computes the backward reachable set starting from the goal set for the inearized system.
Input Arguments
goalSet |
goal set that should be reached (class: zonotope) |
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xCenter |
cell-array containing the reference trajectory states for all intermediate time steps |
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uCenter |
cell-array containing the reference trajectory inputs for all intermediate time steps |
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U |
cell-array containing the sets of admissble control inputs for all intermediate time steps |
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Opts |
structure containing the following options
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Output Arguments
R |
backward reachable set (class: zonotope) |
H |
matrix storing the generator-to-input assignment |
See Also
References
- [1] Schuermann et al. (2019), Formal Safety Net Control Using Backward Reachability Analysis
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