# reachSafetyNetContr

compute reachable set for the Safety Net Controller

## Contents

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

## Syntax

[R, Rcont] = reachSafetyNetContr(sys,R0,H,U,Opts)

## Description

This function computes the forward reachble set for one time step of the Safety Net Controller.

## Input Arguments

sys | object that represents the dynamics of the closed-loop system (class: nonlinParamSys)
R0 | initial set (class: zonotope)
H | matrix storing the generator-to-input assignment
U | cell-array containing the sets of admissble control inputs for all intermediate time steps
Opts | structure containing the following options
.Ninter | number of intermediate time steps
.nu | number of inputs
.nx | number of states
.nGen | number of generators
.ReachSteps | number of reachability steps
.ReachOpts | settings for reachability analysis with the CORA toolbox

## Output Arguments

R | final reachable set (class: polyZonotope)
Rcont | object storing the reachable sets (class: reachSet)

## See Also

`safetyNetControl`

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