## Contents

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

## initCostFunction

computes the coefficients of the cost function using

    %the intial guess for the terminal region.%

## Syntax

obj = initCostFunction(obj,initialGuessSet)

## Description

This function computes the coefficients of the cost function (approximation of the volume of the terminal region) using the intial guess for the terminal region. If the number of coefficients exceeds a given threhold, a set of reduced order that is contained in the terminal region is computed, which will be used to obtain an underapproximation of the cost function (see [1, Remark 2]).

## Input Arguments

obj | instance of class computeTermRegNonlinSysOptApproach
initialGuessSet | initial guess for the terminal region (class: zonotope)

## Output Arguments

obj | updated instance of class computeTermRegNonlinSysOptApproach

## See Also

-

## References

[1] L. Schäfer et al. "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions on Automatic Control

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