costSetDistance

sum of distances of the reachable sets to the terminal region

Contents

Syntax

Jset = costSetDistance(R,poly,alpha)

Description

This function computes the sum of distances of reachable sets at discrete time points to the terminal region (see Eq. (13) in [1]).

Input Arguments

R

Cell array containing the reachable sets at discrete time points

Opts

a structure containing following options

.termReg

terminal region around the steady state xf (class: mptPolytope)

.alpha

contraction rate for the contraction constraint [{0.1} / alpha > 0]

Output Arguments

Jset

Summed distances of the points in x to the terminal region

See Also

reachsetMPC

References


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