termReglinSys

terminal region object computed with the approaches proposed in [1] and [2]

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

obj = termReglinSys(dynamics, termReg, termReg_zono, termRegState, termRegState_zono, termSet, Rtp, R, s, termRegCtrl, debug, runtimes, optsInternal)

Description

This class represents a terminal region computed with the approach in [1] and [2].

Input Arguments

dynamics

function handle to the dynamic function of the open loop system

termReg

terminal region (class: zonotope or ellipsoid)

termReg_zono

zonotopic terminal region

termRegState

terminal region of the state (class: zonotope or; ellipsoid)

termRegState_zono

zonotopic terminal region of the state

termSet

terminal safe set, for the 'fixed' approach

Rtp

over-approximations of the reachable set at time steps i * Opts.timeStep, for i=0,...,Opts.N

R

over-approximation of the reachable set of termReg, assuming each point is steered using the control inputs from termRegCtrl

s

value of the initial stretching factors

termRegCtrl

set-based safety-presevering controller

runtimes

struct containing information about the runtimes of the different parts of the algorithm

optsInternal

a structure containing internal algorithm settings See ./src/cLS_setOptsInternal

Output Arguments

obj

resulting object of class termRegContainmentLinSys

References

*[1] "Approximability of the Containment Problem for Zonotopes and Ellipsotopes", A. Kulmburg et al., submited to TAC in 2024
[2] Gruber et al. (2021), Computing safe sets of linear sampled-data systems, IEEE Control Syst. Lett., vol. 5, no. 2, pp. 385-390

dynamics	function handle to the dynamic function of the open loop system
termReg	terminal region (class: zonotope or ellipsoid)
termReg_zono	zonotopic terminal region
termRegState	terminal region of the state (class: zonotope or; ellipsoid)
termRegState_zono	zonotopic terminal region of the state
termSet	terminal safe set, for the `'fixed'` approach
Rtp	over-approximations of the reachable set at time steps i * Opts.timeStep, for i=0,...,Opts.N
R	over-approximation of the reachable set of termReg, assuming each point is steered using the control inputs from termRegCtrl
s	value of the initial stretching factors
termRegCtrl	set-based safety-presevering controller
runtimes	struct containing information about the runtimes of the different parts of the algorithm
optsInternal	a structure containing internal algorithm settings See ./src/cLS_setOptsInternal