computeInitialGuess
computes an inital guess for the linearization-based approach for computing terminal regions of nonlinear systems.
Contents
Syntax
Description
Computes an inital guess for the linearization-based approach for computing terminal regions of nonlinear systems [1]. The initial guess is obtained by computing different types of (robust) invariant sets of the linearized dynamics (around the equilibrium state) and combining their generators.
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysLinApproach |
|
dynamics |
instance of class termRegNonlinSysDynamics |
|
Q |
state weighting matrix (positive-definite matrix of dimension; [obj.nx,obj.nx]) |
|
R |
control input weighting matrix (positive-definite matrix of dimension; [obj.nu,obj.nu]) |
|
weights |
struct storing the weights for computing the initial guess |
Output Arguments
|
initGuess |
initial guess for the terminal region (class: termRegNonlinSysLinApproach) |
See also
@computeTermRegNonlinSysOpt/initialGuessSet_RiccatiEq @computeTermRegNonlinSysOpt/initialGuessSet_GSB @computeTermRegNonlinSysOpt/initialGuessSet_mRPI
References
[1] L. Schäfer et al., "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions on Automatic Control, vol. 69, no. 2, pp. 755-770.
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