# factorScaling

compute optimal scaling factor for all generators

## Contents

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

## Syntax

s = factorScaling(R0,Rfin,H,C,d,stateCon)

## Description

This function computes the optimal scaling factors for all generators such that the volume of the initial set is maximized and the final reachable set is fully contained in the goal set. The optimal scaling factors are determined by nonlinear programming using the "fmincon" algorithm.

## Input Arguments

R0 | initial set (class: zonotope)
Rfin | final forward reachable set (class: polyZonotope)
H | matrix storing the generator-to-input assignment
C | matrix for the inequality constraint C*x <= d
d | vector for the inequality constraint C*x <= d
stateCon | struct containing state constraint parameter

## Output Arguments

s | vector with the optimal scaling factor for each generator

## See Also

`safetyNetControl`

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