# objGenSpaceContr

construct a controller object for the synthesis algorithm based on optimal control in generator space

## Contents

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

## Syntax

obj = OBJGENSPAECONTR(dyn,Rfin,contrLaw,Param)
obj = OBJGENSPAECONTR(dyn,Rfin,contrLaw,Param,occSet)

## Description

Constructor of the controller object for the synthesis algorithm based on optimal control in generator space. The object stores all computed data from the offline-phase of the algorithm. The controller object can be used to simulate the online-phase of the algorithm.

## Input Arguments

dyn | function handle to the dynamic function of the open-loop system
Rfin | final reachable set
contrLaw | a structure containing the control law parameter
.N | number of time steps
.Ninter | number of intermediate time steps
.alpha | cell-array storing the factors alpha of the control law for each intermediate time step
.P | cell-array storing a parallelotope enclosure of the reachable set for each time step
Param | a structure containing the benchmark parameters
.R0 | initial set of states (class: interval)
.xf | goal state
.tFinal | final time after which the goal state should be reached
.U | set of admissible control inputs (class:; interval)
.W | set of uncertain disturbances (class: interval)
occSet | cell-array storing the occupancy set

## Output Arguments

obj | resulting object of class objGenSpaceContr

## See Also

`generatorSpaceControl`

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