approxAbsErrQuad_coefficients

coefficients of the quadratic approximation of the abstraction error.

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

[quadCoeff,bilinCoeff,trCoeff] = approxAbsErrQuad_coefficients(obj,nlSys,termRegSet,W)

Description

This function computes the coefficients of the quadratic approximation of the abstraction error proposed in [1, Proposition 1].

Input Arguments

obj

instance of class computeTermRegNonlinSysLinApproach

nlSys

nonlinear system object (class: nonlinearSys / nonlinearSysDT)

termRegSet

candidate terminal region (class: zonotope)

W

set of disturbances (class: zonotope)

Output Arguments

quadCoeff

coefficients of the quadratic terms [1, Eq. 27a] (array of dimension [obj.nx,1])

bilinCoeff

coefficients of the bilinear terms in [1, Eq. 27a] (array of dimension [obj.nx,1])

trCoeff

coefficients of the linear term, see [1, Eq. 27b] (array of dimension [obj.nx,1])

References

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

obj	instance of class computeTermRegNonlinSysLinApproach
nlSys	nonlinear system object (class: nonlinearSys / nonlinearSysDT)
termRegSet	candidate terminal region (class: zonotope)
W	set of disturbances (class: zonotope)

quadCoeff	coefficients of the quadratic terms [1, Eq. 27a] (array of dimension [obj.nx,1])
bilinCoeff	coefficients of the bilinear terms in [1, Eq. 27a] (array of dimension [obj.nx,1])
trCoeff	coefficients of the linear term, see [1, Eq. 27b] (array of dimension [obj.nx,1])