verifyTerminalRegion
verifies invariance of the terminal region.
Contents
Syntax
Description
This function implements the verification procedure described in [1, Sec. III 2]. Compared to the paper, we make the following modification to deal with violations of the time-interval constraint in [1, Eq. (6b)]: we tighten the polytope, which represents the set of admissible states, in every direction in which the containment condition is violated. The tightening is chosen as the difference of the support function of the reachable set in the violating direction A(j,:) and b(j).
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysOpt |
|
dynamics |
instance of class termRegNonlinSysDynamics |
|
termReg |
converged solution (class: termRegNonlinSysOpt) |
Output Arguments
|
flagVerified |
true if the verification was succesful, false otherwise (logical) |
|
termReg_verified |
verified terminal region (class: termRegNonlinSysOpt) |
See Also
@computeTermRegNonlinSysOpt/checkInvariance
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.
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