# reachPolyParam

computes the parameterized reachable set

## Contents

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

## Syntax

R = reachPolyParam(R0,pZ_U,x0,u_c,Opts)

## Description

Computes the approximate closed-loop reachable set parameterized by the control law paraemters.

## Input Arguments

R0 | initial set
pZ_U | polynomial zonotope that represents the polynomial control law
x0 | intial state for the reference trajectory
u_c | control inputs for the reference trajectory
Opts | structure containing all options

## Output Arguments

R | reachable set (class: reachSet)

## See Also

`polynomialControl`

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