# computeSafeTerminalSet

compute a safe terminal set

## Contents

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

## Syntax

safeTermSet = computeSafeTerminalSet(Param,Opts)

## Description

This function computes a safe terminal set by calculating the reachable set starting from the origin and from the search domain in parallel until both reachable sets converge to a common set.

## Input Arguments

Param | a structure containing the benchmark parameters
.U | set of admissible control inputs (class: interval or zonotope)
.W | set of uncertain disturbances (class: interval or zonotope)
.V | set of measurement errors (class: interval or zonotope)
.X | set of state constraints (class: mptPolytope)
Opts | a structure containing following options
.Tdomain | search domain for the terminal region (class:; interval)
.maxDist | maximum distance for convergence criterion

## Output Arguments

safeTermSet | resulting safe terminal set (class: zonotope)

## See Also

`computeSafeInitialSet`, `computeTermRegZonoLinSys`

## References

- [1] Gruber et al. (2021), Computing safe sets of linear sampled-data systems, IEEE Control Syst. Lett., vol. 5, no. 2, pp. 385-390

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