# computeTermRegNonlinSysLinApproach

computes a terminal region with the successive convexification approach proposed in [1]

## Contents

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

## Syntax

T = computeTermRegNonlinSysLinApproach(benchmark,Params,Opts)

## Description

Successive convexification procedure proposed in [1] for the computation of a possibly large terminal region (here: robust control invariant set) for a nonlinear sampled-data system.

## Input Arguments

benchmark | name of the considered benchmark model
Param | a structure containing the algorithm parameters
.X | set of admissible states (class: interval)
.U | set of admissible control inputs (class: interval)
.W | set of disturbances (class: interval)
Opts | a structure containing the algorithm settings
.N | number of time steps [{10} / positive integer]
.Ninter | number of intermediate time steps [{1} / positive integer]
.timeStep | sampling time [{0.1} / positive scalar]
.xEq | equilibrium point for the terminal region
.uEq | control input for the equilirium point
.termRegOrder | desired order of the zonotope representing the terminal region [{5} / positive integer]

## Output Arguments

T | object of class termRegNonlinSysLinApproach

## See also

`terminalRegion`, `termRegNonlinSysLinApproach`

## References

[1] L. Schäfer et al. "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2023, IEEE Transactions on Automatic Control

© 2018-2026 I6 Technische Universität München `•` Website `•` License