reachSetGenSpaceContr

computes the reachable set for one time step

Contents

Syntax

[reachSet,R] = reachSetGenSpaceContr(sys,R,P,alpha,Opts)

Description

This function computes the reachable set of the controlled system for one time step of the controller that is based on optimal control in generator space.

Input Arguments

sys

object with the closed-loop dynamics (class: nonlinearSys)

R

initial set (class: zonotope)

P

parallelotope enclosure of the initial set (class: zonotope)

alpha

cell-array storing the control law for the time step

Opts

a struct containing the following fields

.Ninter

number of intermediate time steps

.reachSteps

number of reachability steps in each time step

.U

set of admissible control inputs

.ReachOpts

settings for reachability analysis with CORA

.nx

number of states

.nu

number of inputs

Output Arguments

A

cell-array storing the system matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c

B

cell-array storing the input matrices of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c

c

cell-array storing the constant offset of the linearized time discrete system x(k+1) = A x(k) + B u(k) + c

xf

cell-array storing the goal states for each time step

See Also

generatorSpaceControl


© 2018-2020 I6 Technische Universität München Website License

logoAroc logoCora logoChair logoTum