# computeTermRegNonlinSysLinApproach

solver class for the linearization-based approach for computing terminal regions of nonlinear systems.

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

obj = computeTermRegNonlinSysOpt(Param,Opts)

## Description

This class and its childclasses provide all methods required for formulating and solving the convex approximations of the terminal region optimization problem in [1, Sec. III] as well as the methods for verifying correctness of its solution.

## Input Arguments

Param | a struct containing the benchmark parameters .X: set of admissible states (class: interval/zonotope/polytope) .U: set of admissible control inputs (class: interval/zonotope/polytope) .W: set of disturbances (class: zonotope)
Opts | a struct containing the algorithm settings .xEq: equlibrium state to be stabilized (double vector) .uEq: equilibrium control input (double vector) .termRegOrder: (optional) order of the zonotope representing the terminal region (positive scalar, >= 1) .verbose: if set to true, the algorithm prints information about each iteration to the command window. If set to false, no iterative output is shown.
solverSettings | (optional) struct storing the solver settings, see superclass constructor for shared fields

## Output Arguments

obj | generated instance of the class computeTermRegNonlinSysLinApproach

## See Also

-

## References

[1] L. Schäfer et al. "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", in IEEE Transactions on Automatic Control, vol. 69, no. 2, pp. 755-770, 2024.

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