computeTermRegNonlinSysLinApproach

computes a terminal region with the successive convexification approach proposed in [1]

Syntax
Description
Input Arguments
Output Arguments
See also
References

Syntax

T = computeTermRegNonlinSysLinApproach(benchmark,Params,Opts)

Description

Successive convexification procedure proposed in [1] for the computation of a possibly large terminal region (here: robust control invariant set) for a nonlinear sampled-data system.

Input Arguments

benchmark

name of the considered benchmark model

Param

a structure containing the algorithm parameters

.X

set of admissible states (class: interval)

.U

set of admissible control inputs (class: interval)

.W

set of disturbances (class: interval)

Opts

a structure containing the algorithm settings

.N

number of time steps [{10} / positive integer]

.Ninter

number of intermediate time steps [{1} / positive integer]

.timeStep

sampling time [{0.1} / positive scalar]

.xEq

equilibrium point for the terminal region

.uEq

control input for the equilirium point

.termRegOrder

desired order of the zonotope representing the terminal region [{5} / positive integer]

Output Arguments

T

object of class termRegNonlinSysLinApproach

References

[1] L. Schäfer et al. "Scalable Computation of Robust Control Invariant Sets of Nonlinear Systems", 2023, IEEE Transactions on Automatic Control