compReachSet

reachable set computation for the closed-loop system

Contents

Syntax

Description

This function computes the reachable set for the closed loop system starting from teh point p.

Input Arguments

sys	object containing the dynamics of the closed-loop system (class: nonlinParamSys)
K	feedback matrix for the tracking controller (dimension: [nu,nx])
uc	reference control input (dimension: [nu,1])
xc	reference point of center trajectory (dimension: [nx,1])
p	initial point for the reachable set computation (dimension: [nx,1])
Opts	a structure containing following options .nx number of system states .tComp time allocated to perform the computations for the optimizations (0 < Opts.tComp < Opts.dT). .ReachOptsTrack reachability options for the CORA toolbox

Output Arguments

Rfin	final reachable set
Rcont	cell-array containing the time interval reachable sets

See Also

reachsetMPC

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