# costSetDistance

sum of distances of the reachable sets to the terminal region

## Contents

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

## Syntax

Jset = costSetDistance(R,poly,alpha)

## Description

This function computes the sum of distances of reachable sets at discrete time points to the terminal region (see Eq. (13) in [1]).

## Input Arguments

R | Cell array containing the reachable sets at discrete time points
Opts | a structure containing following options
.termReg | terminal region around the steady state xf (class: mptPolytope)
.alpha | contraction rate for the contraction constraint [{0.1} / alpha > 0]

## Output Arguments

Jset | Summed distances of the points in x to the terminal region

## See Also

`reachsetMPC`

## References

- [1] Schuermann et al. (2018), Reachset Model Predictive Control for Disturbed Nonlinear Systems

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