# symExtremePoints

compute vertices of a parallelotope

## Contents

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

## Syntax

vert = symExtremePoints(zonoR, I)

## Description

Compute the vertices of a parallelotope using the specified alpha values

## Input Arguments

zonoR | parallelotope (class: zonotope)
I | matrix containing the zonotope parameters alpha for all vertices (dimension: [nx, 2^nx])

## Output Arguments

vert | vertices of the parallelotope "zonoR" (dimension: [nx,2^nx])

## See Also

`convexInterpolationControl`

## References

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

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