# costFun

cost function for nonlinear programming

## Contents

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

## Syntax

cost = costFun(x,Opts)

## Description

This function computes the costs for a specific value for the control law parameters. For this, the reachable set is computed and the distance of the final reachable set to the target state is computed as the cost.

## Input Arguments

x | current value of the control law parameters
Opts | structure containing the following options
.linModel | structure containing the system matrices of the uncontrolled system
.ReachOpts | structure containing the settings for reachability analysis
.uc | center trajectory control inputs

## Output Arguments

cost | value of the cost function

## See Also

`optimizationBasedControl`, `conFun`

## References

- [1] Schuermann et al. (2017), Optimal Control of Sets of Solutions to Formally Guarantee Constraints of Disturbed Linear Systems

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