# computeTerminalRegion

compute a terminal region

## Contents

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

## Syntax

T = computeTerminalRegion(benchmark,alg,Param,Opts)

## Description

This function first computes a terminal controller that stabilizes the system around the specified equilibrium, and then computes a terminal region for the contolled system with the selected algorithm.

## Input Arguments

benchmark | name of the considered benchmark model (see; "aroc/benchmarks/dynamics/...")
alg | string specifying the algorithm that is used to calculate the terminal region. The available algorithms are `'subpaving'` (see [1]) and `'zonoLinSys'` (see [2])
Param | a structure containing the benchmark parameters
.U | set of admissible control inputs (class: interval)
.W | set of uncertain disturbances (class: interval)
Opts | a structure containing the algorithm settings

## Output Arguments

T | object of class terminalRegion

## See Also

`terminalRegion`, `termRegSubpaving`, `termRegZonoLinSys`

## References

- [1] El-Guindy et al. (2017), Estimating the region of attraction via forward reachable sets, ACC 2017
- [2] Gruber et al. (2021), Computing safe sets of linear sampled-data systems, IEEE Control Syst. Lett., vol. 5, no. 2, pp. 385-390

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