# termRegSubpaving

terminal region object computed with the subpaving algorithm

## Contents

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

## Syntax

obj = termRegSubpaving(dyn,set,K,subpav,xEq,uEq,Param)

## Description

This class represents a terminal region computed with the subpaving algorithm in [1]. The object can be used to simulate the controller for the terminal region and can be provides as a terminal region for model predictive control.

## Input Arguments

dyn | function handle to the dynamic function of the open-loop system
set | set representing the terminal region (class: contSet)
K | feedback matrix for the terminal controller
subpav | cell-arry of intervals defining the subpaving that represents the terminal region
xEq | equilibrium point for the terminal region
uEq | control input for the equilirium point
Param | a structure containing the benchmark parameters
.U | set of admissible control inputs (class:; interval)
.W | set of uncertain disturbances (class: interval)

## Output Arguments

obj | generated object of class termRegSubpaving

## See Also

`terminalRegion`, `compTermRegSubpaving`

## References

- [1] El-Guindy et al. (2017), Estimating the region of attraction via forward reachable sets, ACC 2017

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