approxAbsErrPwLin_con
returns the (linear inequality) constraints encoding the piece-wise linear approximation of the abstraction error.
Contents
Syntax
Description
This function returns the (linear inequality) constraints encoding the piece-wise linear approximation of the abstraction error proposed in [1, Example 1].
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysPolyApproach |
|
candTermReg |
current candidate for the terminal region (polyZonotope/struct storing the; parameters of a polyZonotope) |
|
paramAbsErr_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]) |
|
idxVars |
struct storing the indices of the optimization variables |
Output Arguments
|
cIneqStruct |
struct storing the matrix and right-hand side of the linear inequality constraint ensuring [1, Eq. (20b)] |
|
cIneqStructAux |
struct storing the matrix and right-hand side of the auxiliary linear inequality constraints |
See Also
@computeTermRegNonlinSysPolyApproach/approxAbsErrPwLin_coefficients
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.
© 2018-2026 I6 Technische Universität München • Website • License
|
 |
 |
 |