reachLinearController
reachabilty analysis for the linear approximation of the exact control law
Contents
Syntax
Description
Computes the reachable set at the end of one timestep of the center trajectory as well as all reachable sets during this timestep.
Input Arguments
dynamic |
object containing the system dynamics (class:; nonlinearSys) |
R0 |
extended initial zonozope, which contains the state as well as the auxiliary states (dimension: 2*nx) |
cu |
cell array containing the center vectors of the input zonotopes for each intermediate timestep (dimension cell array: Opts.Ninter,; diemnsion entries: [nu,1]) |
Gu |
cell array containing the generator matrices of the input zonotopes for each intermediate timestep (dimension cell array: Opts.Ninter,; diemnsion entries: [nu,nx]) |
inputAssign |
Matrix that encode the information which generator of the first input zonotope belongs to which generator of the initial state zonotope R0 (dimension: [nx,zonotope order of R0]) |
Opts |
structure containing user defined options for the algorithm |
Output Arguments
Rfinal |
final zonotope at the end of reachability analysis |
reachSet |
cell array containing the reachable sets of all intermediate time steps |
See Also
convexInterpolationControl, computeLinearController
References
- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems
© 2018-2020 I6 Technische Universität München Website License
![]() |
![]() |
![]() |
![]() |