# objSafetyNetContr

construct a controller object for the Safety Net Controller

## Contents

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

## Syntax

obj = objSafetyNetContr(dyn,Rfin,contrLaw,Param)
obj = objSafetyNetContr(dyn,Rfin,contrLaw,Param,occSet)

## Description

Constructor of the controller object for the Safety Net Controller. The object stores the safe sets and input weights for the safety net controller. The controller object can be used to simulate the online-phase of the algorithm. Furthermore, a controller for the unverified controller is stored which can be simulated in combination with the safety net.

## Input Arguments

dyn | function handle to the dynamic function of the open-loop system
Rfin | final reachable set
contrLaw | a structure containing the control law parameter
.comfContr | controller object for the comfort controller
.H | cell-array storing the input-to-generator correlation matrix for each time step
.reachSet | cell-array storing the time point reachable set
.Usub | cell-array storing the subsets of admissble control inputs for each time step
.N | number of time steps
.Ninter | number of intermediate time steps
.realTime | flag specifying if controller is run in real-time mode or not
.tComp | allocated computation time
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)
.V | set of measurement errors (class: interval or; zonotope)
occSet | cell-array storing the occupancy set

## Output Arguments

obj | resulting object of class objSafetyNetContr

## See Also

`safetyNetControl`

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