computeTermRegNonlinSysOptApproach

abstract superclass for optimization-based approaches for computing terminal regions of nonlinear systems.

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

obj = computeTermRegNonlinSysOptApproach(X,U,W,xEq,uEq,termRegOrder)
obj = computeTermRegNonlinSysOptApproach(X,U,W,xEq,uEq,termRegOrder,solverSettings)

Description

This class and its childclasses provide all methods required for formulating and solving the convex [1] or polynomial [2] approximations of the terminal region optimization problem in [2, Eq. 6].

Input Arguments

X

set of admissible states (class: interval / polytope / zonotope)

U

set of admissible control inputs (class: interval / polytope / zonotope)

W

set of uncertain disturbances (class: zonotope)

xEq

equilibrium state (array of dimension [X.dim,1])

uEq

equilibrium control input (array of dimension [U.dim,1])

termRegOrder

order of the zonotope representing the terminal region (positive integer)

solverSettings

(optional) structure with the following optional fields

.penaltyWeight

penalty weight for soft constraints, see [1, Remark 4] (positive scalar)

.convergenceTolerance

convergence tolerance, see [1, Eq. 18] (positive scalar)

.maxIter

max. number of iterations (positive integer)

.maxCostTerms

maximum admissible number of addends in the cost function, see [1, Remark 2] (positive interger)

Output Arguments

obj

generated instance of the class computeTermRegNonlinSysOptApproach

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 [2] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.