# computeInitialGuess

computes an inital guess for the linearization-based approach for computing terminal regions of nonlinear systems.

## Contents

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

## Syntax

initGuess = computeInitialGuess(obj,dynamics,Q,R,weights)

## Description

Computes an inital guess for the linearization-based approach for computing terminal regions of nonlinear systems [1]. The initial guess is obtained by computing different types of (robust) invariant sets of the linearized dynamics (around the equilibrium state) and combining their generators.

## Input Arguments

obj | instance of class computeTermRegNonlinSysLinApproach
dynamics | instance of class termRegNonlinSysDynamics
Q | state weighting matrix (positive-definite matrix of dimension; [obj.nx,obj.nx])
R | control input weighting matrix (positive-definite matrix of dimension; [obj.nu,obj.nu])
weights | struct storing the weights for computing the initial guess

## Output Arguments

initGuess | initial guess for the terminal region (class: termRegNonlinSysLinApproach)

## See also

@computeTermRegNonlinSysOpt/initialGuessSet_RiccatiEq @computeTermRegNonlinSysOpt/initialGuessSet_GSB @computeTermRegNonlinSysOpt/initialGuessSet_mRPI

## References

[1] L. Schäfer et al., "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions on Automatic Control, vol. 69, no. 2, pp. 755-770.

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