# termRegNonlinSysOpt

abstract superclass for terminal region objects computed with the nonlinSysApproach algorithms.

## Contents

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

## Syntax

obj = termRegNonlinSysOpt(dynamics,sysType,set,dt,U,W)

## Description

Abstract superclass for terminal regions computed with the linearization- [1] or polynomialzation-based [2] approach for computing terminal region of nonlinear sytems. Its childclasses provide methods for evaluating the respective invariance-preserving control law.

## Input Arguments

dynamics | handle to the dynamics function of the nonlinear open-loop system
sysType | type of dynamical system, e.g., sampled-data system or discrete-time system (class: termRegSysType)
set | set representing the terminal region (class: zonotope)
dt | sampling time (positive scalar)
U | set of admissible control inputs (class: zonotope / polytope / interval)
W | set of disturbances (class: zonotope / interval))

## Output Arguments

obj | generated instance of the class termRegNonlinSysOpt

## 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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