# cvx_zonoInPolyConstraint

implements the constraint function encoding the necessary and sufficient conditions for zonotope-in-polytope containment.

## Contents

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

## Syntax

[cEq,cIneq] = cvx_zonoInPolyConstraint(cIn,GIn,s,polyOut)

## Description

This function implements the necessary and sufficient conditions for containment of a set zonotope(cIn,GIn*diag(s)) in a polytope in [1, Eq. 9]: polytope.A*cIn + abs(polytope.A*GIn)*s <= polytope.b. The output argument is in the form cIneq <= 0.

## Input Arguments

cIn | center of the inbody (double array of dimension [nx,1])
GIn | generator matrix of the inbody (double array)
s | generator scaling factors for the inbody (double array of dimension [size(GIn,2),1])
polyOut | circumbody (class: polytope)

## Output Arguments

cIneq | constraint functions of the inequality constraints

## 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

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