# computeInitialGuessCtrl

computation of an initial guess for the controller parameters.

## Contents

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

## Syntax

p0 = computeInitialGuessCtrl(obj,dynamics,candTermReg)

## Description

This function computes an initial guess for the controller parameters by solving a based on the controller synthesis approach from [2]. To enable the algorithm to recover feasibility faster, the goal is to steer all states of the candidate terminal region back into this set with minimum control effort (encoded as the exploitation of set of admissible inputs). To formulate a convex program, we only cosider the linear abstraction of the dynamics.

## Input Arguments

obj | instance of class computeTermRegNonlinSysPolyApproach
dynamics | instance of class termRegNonlinSysDynamics
candTermReg | initial guess for the terminal region (class: polyZonotope)

## Output Arguments

p0 | initial guess for the controller parameters (double array of dimension [length(obj.id.p),1])

## See Also

@computeTermRegNonlinSysPolyApproach/computeInitialGuess

## References

[1] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169. [2] B. Schürmann and M. Althoff, "Guaranteeing Constraints of Disturbed Nonlinear Systems Using Set-Based Optimal Control in Generator Space,", IFAC-PapersOnLine, Volume 50, Issue 1, 2017, pp. 11515-11522.

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