objPolyContr

construct a controller object for polynomial controller synthesis

Contents

Syntax

Description

Constructor of the controller object for the polynomial control synthesis algorithm. The object stores all computed data from the offline-phase of the algorithm. The controller object can be used to simulate the online-phase of the algorithm.

Input Arguments

dyn	function handle to the dynamic function of the open-loop system
Rfin	final reachable set
contrLaw	a structure containing the control law parameter .N number of time steps .Ninter number of intermediate time steps .Ctrl_x cell array of N, Ninter*nu dimensional controller that take the state as argument .parallelo cell array storing the parallelotope enclosures of the reachable set
Param	a structure containing the benchmark parameters .R0 initial set of states (class: interval) .xf goal state .tFinal final time after which the goal state should be reached .U set of admissible control inputs (class:; interval) .W set of uncertain disturbances (class: interval) .V set of measurement errors (class: interval or; zonotope) .X set of state constraints (class: mptPolytope)
occSet	cell-array storing the occupancy set

Output Arguments

obj	resulting object of class objPolyContr

See Also

polynomialControl

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Published with MATLAB® R2022a