termRegNonlinSysOpt

abstract superclass for terminal region objects computed with the nonlinSysApproach algorithms.

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

obj = termRegNonlinSysOpt(dynamics,sysType,set,dt,U,W)

Description

Abstract superclass for terminal regions computed with the linearization- [1] or polynomialzation-based [2] approach for computing terminal region of nonlinear sytems. Its childclasses provide methods for evaluating the respective invariance-preserving control law.

Input Arguments

dynamics

handle to the dynamics function of the nonlinear open-loop system

sysType

type of dynamical system, e.g., sampled-data system or discrete-time system (class: termRegSysType)

set

set representing the terminal region (class: zonotope)

dt

sampling time (positive scalar)

U

set of admissible control inputs (class: zonotope / polytope / interval)

W

set of disturbances (class: zonotope / interval))

Output Arguments

obj

generated instance of the class termRegNonlinSysOpt

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 [2] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.

dynamics	handle to the dynamics function of the nonlinear open-loop system
sysType	type of dynamical system, e.g., sampled-data system or discrete-time system (class: termRegSysType)
set	set representing the terminal region (class: zonotope)
dt	sampling time (positive scalar)
U	set of admissible control inputs (class: zonotope / polytope / interval)
W	set of disturbances (class: zonotope / interval))