initialGuessSet_GSB
computes an outer approximation of the minimal robust control invariant set of the linearized dynamics.
Contents
Syntax
Description
To obtain an initial guess for the optimization-based approaches for computing terminal regions of nonlinear systems, we compute an outer approximation of the minimal robust control invariant (RCI) set [1, Theorem 2]. The cost fuction is taken from [2, Sec. IV].
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysOptApproach |
|
dynamics |
instance of class termRegNonlinSysDynamics |
Output Arguments
|
minRCIset |
outer approximation of the minimal RCI set (class: termRegNonlinSysLinApproach) |
See also
References
[1] K. Ghasemi et al. "Compositional synthesis via a convex parameterization of assume-guarantee contracts", 2020, Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, Article No.: 16, pp. 1-10. [2] K. Ghasemi et al., "Compositional Synthesis of Decentralized Robust Set-Invariance Controllers for Large-scale Linear Systems," 2019, IEEE Conference on Decision and Control, pp. 2054-2059.
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