# distPhi

distance between a zonotope and the terminal region

## Contents

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

## Syntax

d = distPhi(A,b,zono)

## Description

This function computes the distance between a zonotope and the terminal region, which is specified as a polytope (see Def. 5 in [1]).

## Input Arguments

A | inequality constraint matrix the defines the terminal region polytope (A*x < b)
b | inequality constraint vector the defines the terminal region polytope (A*x < b)
zono | zonotope (class: zonotope)

## Output Arguments

d | distance of the polytope to the terminal region

## See Also

`reachsetMPC`

## References

- [1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems

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