computeSafeInitialSet

compute a safe initial set

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

[safeSet,safeInputs] = computeSafeInitialSet(termSet,Param,Opts)

Description

This function computes a safe initial set with corresponding input sets correction sets via optimization, where the objective is to make the initial set as large as possible while steering all states into the previously determined terminal set.

Input Arguments

termSet

previously computed safe terminal set (class: zonotope)

Param

a structure containing the benchmark parameters

.U

set of admissible control inputs (class: interval or zonotope)

.W

set of uncertain disturbances (class: interval or zonotope)

.V

set of measurement errors (class: interval or zonotope)

.X

set of state constraints (class: mptPolytope)

Opts

a structure containing following options

.Tdomain

search domain for the terminal region (class:; interval)

.N

number of time steps

.genMethod

method for computing the fixed generator matrix for the terminal set

.G

generator matrix for the terminal set (for; Opts.genMethod = 'provided' only)

.costFun

cost function used for the optimization problem

Output Arguments

safeSet

resulting safe initial set

safeInputs

cell-array storing the input zonotopes

References

[1] Gruber et al. (2021), Computing safe sets of linear sampled-data systems, IEEE Control Syst. Lett., vol. 5, no. 2, pp. 385-390

safeSet	resulting safe initial set
safeInputs	cell-array storing the input zonotopes