# exactControlLaw

implements the nonlinear control law

## Contents

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

## Syntax

u = exactControlLaw(x,zonoR,uCorner)

## Description

This function implements the nonlinear control law which is based on exact convex combinations (see Sec. 4 in [1]).

## Input Arguments

x | system states x (dimension: [nx,1])
zonoR | parallelotope for which the control law should be calculated
uCorner | matrix storing the optimal control inputs for the parallelotope vertices (dimension: [nu,2^nx])

## Output Arguments

u | resuling control input = value of the control law (dimension: [nu,1])

## See Also

`convexInterpolationControl`, `dynamicsClosedLoopExact`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

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