initCostFunction
computes the coefficients of the cost function using the intial guess for the terminal region.
Contents
Syntax
Description
This function computes the coefficients of the cost function (approximation of the volume of the terminal region) using the intial guess for the terminal region. If the number of coefficients exceeds a given threhold, a set of reduced order that is contained in the terminal region is computed, which will be used to obtain an underapproximation of the cost function value (see [1, Remark 2]).
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysOpt |
|
initialGuessSet |
initial guess for the terminal region (class: zonotope) |
Output Arguments
|
obj |
updated instance of class computeTermRegNonlinSysOpt |
See Also
References
[1] L. Schäfer et al. "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions on Automatic Control
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