computeSafeTerminalSet

compute a safe terminal set

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

safeTermSet = computeSafeTerminalSet(Param,Opts)

Description

This function computes a safe terminal set by calculating the reachable set starting from the origin and from the search domain in parallel until both reachable sets converge to a common set.

Input Arguments

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)

.maxDist

maximum distance for convergence criterion

Output Arguments

safeTermSet

resulting safe terminal set (class: zonotope)

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