# termRegNonlinSysSolutionAuxData

dataclass for storing auxiliary data from the solution of the terminal region optimization problems.

## Contents

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

## Syntax

obj = termRegNonlinSysSolutionAuxData(flagIsFeasible,costSet,tr_exploit,estAbsErr,solver_time,opt_setupTime)

## Description

Dataclass for storing the auxiliary data from the solution of the convex [1] or polynomial [2] approximations of the terminal region optimization problem. Such data includes the estimated set of abstraction errors (required for updating the trust region) or the cost set (see also [1, Remark 2]).

## Input Arguments

flagIsFeasible | flag indicating feasibility of the solution (logical)
costSet | set, which is plugged into the cost function (optimal solution) (class: zonotope)
tr_exploit | scalar indicating the exploitiation of the trust region
estAbsErr | estimate of the set of abstraction errors (class: interval)
solver_time | time required for solving the optimization problem (nonnegative scalar)
opt_setupTime | time required for setting up the optimization problem (nonnegative scalar)

## Output Arguments

obj | instance of class termRegNonlinSysSolutionAuxData

## See Also

-

## References

[1] L. Schäfer et al. "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", in IEEE Transactions on Automatic Control, vol. 69, no. 2, pp. 755-770, 2024 [2] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.

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