computeInputZonotope

Compute a zonotope approximating the inputs

Contents

Syntax

[c,G] = computeInputZonotope(uCorner,uCenter,zonoR,Opts)

Description

This function computes a zonotope for the input values. This zonotope corresponds the linear control law evaluated on the state zonotope (see Sec. 5 in [1]).

Input Arguments

uCorner

optimal control inputs for the corner trajectories (dimension: [nu,2^nx])

uCenter

optimal control inputs for the center trajectory (dimension: [nx, Opts.Nc])

zonoR

parallelotope which is an overapproximation of the initial zonotope zono (class zonotope)

Opts

structure containing user defined options for the algorithm

Output Arguments

c

center of the input zonotope

G

generator matrix of the input zonotope

See Also

convexInterpolationControl, computeLinearController

References


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