# initSearchDomain

initialize search domain for terminal region

## Contents

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

## Syntax

Tdomain = initSearchDomain(K,xEq,uEq,U)
Tdomain = initSearchDomain(K,xEq,uEq,U,X)

## Description

Initialize the search domain for determining a terminal region using a heuristic that is based on the state and input constraints.

## Input Arguments

K | feedback matrix for the controller (dimension: [nu,nx])
xEq | equilibrium point of the system (dimension: [nx,1])
uEq | control input for the equilibrium point (dimension: [nu,1])
U | set of control inputs (class: interval or zonotope)
X | set of state constraints (class: mptPolytope)

## Output Arguments

Tdomain | search domain for the terminal region

## See Also

`computeTermRegZonoLinSys`, computeTermRegSubpaving

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