cvx_zonoInPolyConstraint

implements the constraint function encoding the necessary and sufficient conditions for zonotope-in-polytope containment.

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

[cEq,cIneq] = cvx_zonoInPolyConstraint(cIn,GIn,s,polyOut)

Description

This function implements the necessary and sufficient conditions for containment of a set zonotope(cIn,GIn*diag(s)) in a polytope in [1, Eq. 9]: polytope.A*cIn + abs(polytope.A*GIn)*s <= polytope.b. The output argument is in the form cIneq <= 0.

Input Arguments

cIn

center of the inbody (double array of dimension [nx,1])

GIn

generator matrix of the inbody (double array)

s

generator scaling factors for the inbody (double array of dimension [size(GIn,2),1])

polyOut

circumbody (class: polytope)

Output Arguments

cIneq

constraint functions of the inequality constraints

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

cIn	center of the inbody (double array of dimension [nx,1])
GIn	generator matrix of the inbody (double array)
s	generator scaling factors for the inbody (double array of dimension [size(GIn,2),1])
polyOut	circumbody (class: polytope)