# objController

abstract class for all controllers in AROC

## Contents

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

## Syntax

obj = objController(dyn,Rfin,Param)
obj = objController(dyn,Rfin,Param,occSet)

## Description

This class is the superclass for all controller objects in the AROC toolbox. The class defines some common properties that are inherited by all controller objects.

## Input Arguments

dyn | function handle to the dynamic function of the open-loop system
Rfin | final reachable set
Param | a structure containing the benchmark parameters
.R0 | initial set of states (class: interval)
.xf | goal state
.tFinal | final time after which the goal state should be reached
.U | set of admissible control inputs (class:; interval)
.W | set of uncertain disturbances (class: interval; or zonotope)
.V | set of measurement errors (class: interval or; zonotope)
occSet | cell-array storing the occupancy set

## Output Arguments

obj | generated object of class objController

## See Also

`objConvInterContr`, `objSafetyNetContr`, `objGenSpaceContr`

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