# splitControlTemplates

split poly. zonotopes for controller templates

## Contents

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

## Syntax

list = splitControlTemplates(Uscalar,ids,splits)

## Description

Recursively split the polynomial zonotopes for the controller templates to improve the accuracy of the bounds that characterize feasible parameters.

## Input Arguments

Uscalar | controller template for a scalar control input
ids | identifiers for the factors that are split
splits | number of recursive splits

## Output Arguments

list | list storing the split controller templates

## See Also

`polynomialControl`

## References

- [1] Gassman et al. (2021), Verified Polynomial Controller Synthesis for Disturbed Nonlinear Systems

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