# computeQuadraticControlLaw

Compute the parameter of the quadratic control law

## Contents

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

## Syntax

params = computeQuadraticControlLaw(uCorner,zonoR,Opts)

## Description

This function computes a zonotope for the input values. This zonotope is a linear approximation of the exact control law.

## Input Arguments

uCorner | optimal control inputs for the corner trajectories (dimension: [nu,2^nx])
zonoR | parallelotope which is an overapproximation of the initial zonotope zono (class zonotope)
Opts | structure containing user defined options for the algorithm

## Output Arguments

params | vector storing the parameter of the quadratic control law (dimension: [nu*(2*nx+1),1])

## See Also

`convexInterpolationControl`, `computeQuadraticController`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

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