# reachPoly

computes the reachable set for a polynomial controller

## Contents

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

## Syntax

[R,R0] = reachPoly(R0,pZ_U,Opts)

## Description

Computes the over-approximative closed-loop reachable set for a polynomial control law

## Input Arguments

R0 | current initial set
pZ_U | polynomial zonotope representing the optimal controller
Opts | structure containing all options

## Output Arguments

R | Closed-loop reachable set for controller pZCtrl_x (class reachSet)
R0 | Final time point reachable set (class polyZonotope)

## See Also

`polynomialControl`

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