# decayFunctions

compute decay functions for optimal control problems with extended optimization horizon

## Contents

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

## Syntax

decay = decayFunctions(index,Opts)

## Description

This function solves an optimal control problem for all corner states of the initial parallelotope.

## Input Arguments

index | lenght of the remaining optimizaion horizon
Opts | structure containing user defined options for the algorithm

## Output Arguments

decay | vector contaning the weights for all points of the remaining optimization horizon (dimension: [index,1])

## See Also

`convexInterpolationControl`, `writeAcadoFiles`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

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