initialGuessSet_RiccatiEq
solves the Riccati equation for the linearized dynamics and inscribes a zonotope into the resulting ellipsoid.
Contents
Syntax
Description
To obtain an initial guess for the optimization-based approaches for computing terminal regions of nonlinear systems, we solve the algebraic Riccati equation (ARE) for the linearized dynamics. Afterwards, a zonotope is inscribed into the positively invariant ellipsoid whose shape matrix is the solution of the ARE.
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysOpt |
|
dynamics |
instance of class termRegNonlinSysDynamics |
|
Q |
state weighting matrix (positive-definite matrix of dimension; [obj.nx,obj.nx]) |
|
R |
control input weighting matrix (positive-definite matrix of dimension; [obj.nu,obj.nu]) |
Output Arguments
|
PIset |
approximation of the positively invariant set (class: termRegNonlinSysLinApproach) |
See also
References
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