# objCombinedContr

construct a controller object for the Combined Control Algorithm

## Contents

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

## Syntax

obj = objCombinedContr(dyn,Rfin,contrLaw,Param)

## Description

Constructor of the controller object for the Combined Control Algorithm. The object stores all computed data from the offline-phase of the algorithm. The controller object can be used to simulate the online-phase of the algorithm or to visualize the stored data.

## Input Arguments

dyn | function handle to the dynamic function of the open-loop system
Rfin | final reachable set
contrLaw | a structure containing the control law parameter
.FeedforwardCtrl | controller object for the feed-forward controller (class: objGenSpaceContr or; objPolyContr)
.K | cell-array storing the feedback matrices
.linSys | struct storing the function handles to the linearized system dynamics
Param | a structure containing the benchmark parameters
.R0 | initial set of states (class: interval)
.xf | goal state
.tFinal | final time after which the goal state should be reached
.U | set of admissible control inputs (class:; interval)
.W | set of uncertain disturbances (class: interval)
.V | set of measurement errors (class: interval or; zonotope)
.X | set of state constraints (class: mptPolytope)

## Output Arguments

obj | resulting object of class objCombinedContr

## See Also

`combinedControl`

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