postprocessIterate
post-processing of the polynomial programming solution.
Contents
Syntax
Description
In addition to the post-processing implemented in the superclass method, this function additionally updates the controller template for the next iteration.
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysPolyApproach |
|
s |
generator scaling factors for the terminal region (double vector) |
|
sCost |
generator scaling factors for obj.costSet (double vector) |
|
slack |
vector collecting all slack variables (double vector) |
|
exploitTR |
scalar indicating the exploitation of the trust region (scalar, 0 <= tr_exploit <= 1) |
|
estAbsErr |
estimate of the set of abstraction errors (class: interval) |
|
solverTime |
time for solving the optimization problem (positive scalar) |
|
setupTime |
time for setting up the optimization problem (positive scalar) |
Output Arguments
|
obj |
updated instance of class computeTermRegNonlinSyPolyApproach |
|
auxData |
additional solution data (e.g. flag indicating; feasibility) (class: termRegNonlinSysSolutionAuxData) |
See Also
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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