reachSet

reachable set computation for the closed-loop system

Contents

Syntax

[R,Rcont] = reachSet(dyn,k,uc,xc,p,Opts)

Description

This function computes the reachable set for the closed loop system starting from teh point p.

Input Arguments

dyn

object containing the dynamics of the closed-loop system (class: nonlinParamSys)

k

feedback matrix for the tracking controller (dimension: [nu,nx])

uc

reference control input (dimension: [nu,1])

xc

reference point of center trajectory (dimension: [nx,1])

p

initial point for the reachable set computation (dimension: [nx,1])

Opts

a structure containing following options

.nx

number of system states

.tComp

time allocated to perform the computations for the optimizations (0 < Opts.tComp < Opts.dT).

.ReachOptsTrack

reachability options for the CORA toolbox

Output Arguments

R

final reachable set

Rcont

cell-array containing the time interval reachable sets

See Also

reachsetMPC


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