# innerApproxPoly

inner-approximate a zonotope with a polytope

## Contents

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

## Syntax

poly = innerApproxPoly(Z)

## Description

This function inner-approximates a zonotope with a polytope in halfspace representation that has less than 100 halfspaces.

## Input Arguments

Z | zonotope object (class: zonotope)

## Output Arguments

poly | inner-approximating polytope (class: mptPolytope)

## See Also

`linSysMPC`, `reachsetMPC`

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