# computeControlInput

computes the control inputs one has to choose so that an output y starting in the terminal region ends up again in the terminal region

## Contents

- Syntax
- Input Arguments
- Output Arguments
- Description

## Syntax

u = computeControlInput(T, y, currentInput, nTimeStep, beta)
u = computeControlInput(T, y, currentInput, nTimeStep, beta, beta_V)

## Input Arguments

y | A point that lies in the terminal region of the output (and for which the state lies in the state terminal; region) if nTimeStep=1, and lies in the reachable set of the terminal region at time (nTimeStep-1) * T.Opts.timeStep (class: double)
nTimeStep | Index of the current time step (class: double, must be; a positive integer)
beta beta_V | Initial parametrization of y0 in other words, if y is the current trajectory that started with y0, then beta is given by y0 = G_0 beta + c_0 + G_V beta_V where G_0 and c_0 are the generator matrix and center of the terminal region, G_V is the generator matrix of the noise set.

## Output Arguments

u | Inputs that have to be applied at time nTimeStep * T.Opts.timeStep, in order to continue steering the system back to the terminal region

## Description

Computes the control inputs one has to choose so that an output y starting in the terminal region ends up again in the terminal region.

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