# subsetsInput

compute sets of admissible inputs for each time step

## Contents

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

## Syntax

[U,xCenter,uCenter] = subsetsInput(xc,uc,Opts)

## Description

Computes the sets of admissible control inputs due to the shift by the reference trajectory control input for all time steps.

## Input Arguments

xc | reference trajectory states (dimension: [nx,N*Ninter])
uc | reference trajectory inputs (dimension: [nu,N*Ninter])
Opts | a structure containing the following options
.N | number of time-steps
.Ninter | number of intermediate time steps
.uMaxTotal | maximum allowed control input
.uMinTotal | minimum allowed control input

## Output Arguments

U | cell-array containing the sets of admissble control inputs for each time step
xCenter | cell-array containing the reference trajectory states for each time step
uCenter | cell-array containing the reference trajectory inputs for each time step

## See Also

`safetyNetControl`

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