computeControlInput
computes the control inputs one has to choose so that an output y starting in the terminal region ends up again in the terminal region
Contents
Syntax
u = computeControlInput(T, y, currentInput, nTimeStep, beta, beta_V)
Input Arguments
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y |
A point that lies in the terminal region of the output (and for which the state lies in the state terminal; region) if nTimeStep=1, and lies in the reachable set of the terminal region at time (nTimeStep-1) * T.Opts.timeStep (class: double) |
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nTimeStep |
Index of the current time step (class: double, must be; a positive integer) |
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beta |
Initial parametrization of y0 in other words, if y is the current trajectory that started with y0, then beta is given by y0 = G_0 beta + c_0 + G_V beta_V where G_0 and c_0 are the generator matrix and center of the terminal region, G_V is the generator matrix of the noise set. |
Output Arguments
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u |
Inputs that have to be applied at time nTimeStep * T.Opts.timeStep, in order to continue steering the system back to the terminal region |
Description
Computes the control inputs one has to choose so that an output y starting in the terminal region ends up again in the terminal region.
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