approxAbsErrPwLin_coefficients
computes the coefficients of the piece-wise linear approximation of the abstraction error.
Contents
Syntax
Description
This function computes the semi-edge lengths of an interval enclosing the abstraction error (conservative polynomialization algorithm with tensor order 3). These serve as the coefficients of the piece-wise linear approximation of the abstraction error proposed in [1, Example 1].
Input Arguments
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obj |
instance of class computeTermRegNonlinSysPolyApproach |
|
dynamics |
instance of class termRegNonlinSysDynamics |
|
candTermReg |
current candidate for the terminal region (class: polyZonotope) |
Output Arguments
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coefficients |
struct storing the coefficients of the piece- wise linear approximation of the abstraction error .origin: upper bound on the abstraction error at 0xUxW (array of dimension [obj.nx,1]) .termReg: upper bound on the abstraction error at box(candTermReg)xUxW (array of dimension [obj.nx,1]) .tr upper bound on the abstraction error at box(candTermReg+trust_region)xUxW (array of dimension [obj.nx,1]) |
See Also
@computeTermRegNonlinSysPolyApproach/approxAbsErrPwLin_con
References
[1] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.
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