# initialGuessSet_GSB

computes an outer approximation of the minimal robust control invariant set of the linearized dynamics.

## Contents

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

## Syntax

minRCIset = initialGuessSet_GSB(obj,dynamics)

## Description

To obtain an initial guess for the optimization-based approaches for computing terminal regions of nonlinear systems, we compute an outer approximation of the minimal robust control invariant (RCI) set [1, Theorem 2]. The cost fuction is taken from [2, Sec. IV].

## Input Arguments

obj | instance of class computeTermRegNonlinSysOptApproach
dynamics | instance of class termRegNonlinSysDynamics

## Output Arguments

minRCIset | outer approximation of the minimal RCI set (class: termRegNonlinSysLinApproach)

## See also

-

## References

[1] K. Ghasemi et al. "Compositional synthesis via a convex parameterization of assume-guarantee contracts", 2020, Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, Article No.: 16, pp. 1-10. [2] K. Ghasemi et al., "Compositional Synthesis of Decentralized Robust Set-Invariance Controllers for Large-scale Linear Systems," 2019, IEEE Conference on Decision and Control, pp. 2054-2059.

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