# computeInputZonotope

Compute a zonotope approximating the inputs

## Contents

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

## Syntax

[c,G] = computeInputZonotope(uCorner,uCenter,zonoR,Opts)

## Description

This function computes a zonotope for the input values. This zonotope corresponds the linear control law evaluated on the state zonotope (see Sec. 5 in [1]).

## Input Arguments

uCorner | optimal control inputs for the corner trajectories (dimension: [nu,2^nx])
uCenter | optimal control inputs for the center trajectory (dimension: [nx, Opts.Nc])
zonoR | parallelotope which is an overapproximation of the initial zonotope zono (class zonotope)
Opts | structure containing user defined options for the algorithm

## Output Arguments

c | center of the input zonotope
G | generator matrix of the input zonotope

## See Also

`convexInterpolationControl`, `computeLinearController`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

© 2018-2023 I6 Technische Universität München `•` Website `•` License