# reachNonlinear

compute reachable set for nonlienar systems

## Contents

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

## Syntax

R = reachNonlinear(obj,params,options)

## Description

Computes the reachable sets of a nonlinear system object. This function is a copy of the CORA reach function, with the difference that we do not check if the tensors have to be generated since this results in problems when reachability analysis is used in optimization with fmincon

## Input Arguments

obj | object containing the system dynamics (class:; nonlinParamSys or nonlinearSys)
params | structure containing the reachability parameters
Opts | structure containing user defined reachability settings

## Output Arguments

R | object storing the reachable set (class: reachSet)

## See Also

`optimizationBasedControl`

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