# postprocessIterate

post-processing of the polynomial programming solution.

## Contents

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

## Syntax

[obj,auxData] = postprocessIterate(obj,s,sCost,slack,tr_exploit,estAbsErr,solverTime,setupTime)

## Description

In addition to the post-processing implemented in the superclass method, this function additionally updates the controller template for the next iteration.

## Input Arguments

obj | instance of class computeTermRegNonlinSysPolyApproach
s | generator scaling factors for the terminal region (double vector)
sCost | generator scaling factors for obj.costSet (double vector)
slack | vector collecting all slack variables (double vector)
exploitTR | scalar indicating the exploitation of the trust region (scalar, 0 <= tr_exploit <= 1)
estAbsErr | estimate of the set of abstraction errors (class: interval)
solverTime | time for solving the optimization problem (positive scalar)
setupTime | time for setting up the optimization problem (positive scalar)

## Output Arguments

obj | updated instance of class computeTermRegNonlinSyPolyApproach
auxData | additional solution data (e.g. flag indicating; feasibility) (class: termRegNonlinSysSolutionAuxData)

## See Also

-

## References

[1] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.

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