computeTermRegNonlinSysLinApproach

solver class for the linearization-based approach for computing terminal regions of nonlinear systems.

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

obj = computeTermRegNonlinSysOpt(Param,Opts)

Description

This class and its childclasses provide all methods required for formulating and solving the convex approximations of the terminal region optimization problem in [1, Sec. III] as well as the methods for verifying correctness of its solution.

Input Arguments

Param

a struct containing the benchmark parameters .X: set of admissible states (class: interval/zonotope/polytope) .U: set of admissible control inputs (class: interval/zonotope/polytope) .W: set of disturbances (class: zonotope)

Opts

a struct containing the algorithm settings .xEq: equlibrium state to be stabilized (double vector) .uEq: equilibrium control input (double vector) .termRegOrder: (optional) order of the zonotope representing the terminal region (positive scalar, >= 1) .verbose: if set to true, the algorithm prints information about each iteration to the command window. If set to false, no iterative output is shown.

solverSettings

(optional) struct storing the solver settings, see superclass constructor for shared fields

Output Arguments

obj

generated instance of the class computeTermRegNonlinSysLinApproach

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.