# computeFinalReachSet

compute the reachable set using the optimized control law parameters

## Contents

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

## Syntax

[res,reachSet,R,K] = computeFinalReachSet(xOpt,Opts)

## Description

This function computes the reachable set using the optimized control law parameters from the optimization based control algorithm.

## Input Arguments

xOpt | optimized weigthening matrices
Opts | structure containing the following options
.R0 | intial set (class: zonotope)
.linModel | structure containing the system matrices of the uncontrolled system
.sys | parametric system object storing the closed-loop dynamics (class: nonlinParamSys)
.ReachOpts | structure containing the settings for reachability analysis
.uc | center trajectory control inputs

## Output Arguments

res | flag specifying if the constraints are satisfied (1 if satisfied, 0 if not)
reachSet | object storing the reachable set (class: reachSet)
R | cell-array storing the time point reachable set
K | cell-array storing the feedback matrices for all time steps

## See Also

`optimizationBasedControl`

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