# scaleInitialSet

scale the initial set so the goal set is reached

## Contents

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

## Syntax

[R0opt,RcontOpt] = scaleInitialSet(sys,R0,H,goalSet,U,iter,Opts)

## Description

This function scales the initial set for reachability analysis in such a way that the final reachable set is located inside the goal set.

## Input Arguments

sys | object that represents the dynamics of the closed-loop system (class: nonlinParamSys)
R0 | initial set (class: zonotope)
H | matrix storing the generator-to-input assignment
goalSet | goal set that should be reached (class: zonotope)
U | cell-array containing the sets of admissble control inputs for all intermediate time steps
iter | index of the current time step
Opts | structure containing the following options
.iter | number of iterations for optimization

## Output Arguments

R0opt | scaled initial set (class: zonotope)
RcontOpt | cell-array storing the time interval reachable set for the final solution

## See Also

`safetyNetControl`

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