# computeCtrl

determine optimal control parameters via optimization

## Contents

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

## Syntax

pval = computeCtrl(p0,Rparam,alpha_c,Opts)

## Description

Computes the optimal control parameters by solving the optimization problem (7) in [1].

## Input Arguments

p0 | initial guess for the control parameter
Rparam | parameterized reachable set
alpha_c | zonotope factors for the reference trajectory inputs
Opts | structure containing all options

## Output Arguments

pval | optimal value for the controller parameter

## See Also

`polynomialControl`

## References

- [1] Gassman et al. (2021), Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

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