# compReachSet

reachable set computation for the closed-loop system

## Contents

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

## Syntax

[R,Rcont] = compReachSet(sys,K,uc,xc,p,Opts)

## Description

This function computes the reachable set for the closed loop system starting from teh point p.

## Input Arguments

sys | object containing the dynamics of the closed-loop system (class: nonlinParamSys)
K | feedback matrix for the tracking controller (dimension: [nu,nx])
uc | reference control input (dimension: [nu,1])
xc | reference point of center trajectory (dimension: [nx,1])
p | initial point for the reachable set computation (dimension: [nx,1])
Opts | a structure containing following options
.nx | number of system states
.tComp | time allocated to perform the computations for the optimizations (0 < Opts.tComp < Opts.dT).
.ReachOptsTrack | reachability options for the CORA toolbox

## Output Arguments

Rfin | final reachable set
Rcont | cell-array containing the time interval reachable sets

## See Also

`reachsetMPC`

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