computeTermRegZonoLinSys

compute terminal region with linear system approach using zonotopes

Contents

Syntax

Description

This function computes a terminal region with the linear system approach in [1].

Input Arguments

benchmark	name of the considered benchmark model (see; "aroc/benchmarks/dynamics/...")
Param	a structure containing the benchmark parameters .U set of admissible control inputs (class: interval) .W set of uncertain disturbances (class: interval) .X set of state constraints (class: interval)
Opts	a structure containing following options .Tdomain search domain for the terminal region (class:; interval) .xEq states for the equibrium point of the system .uEq control inputs for the equilibrium point of the system .timeStep time step size for the sampled data controller [positive scalar] .N number of time steps [{10}, positive integer] .K feedback matrix for the terminal contorller .Q state weighting matrix for the LQR approach applied to determine the terminal controller [{eye(nx)} / positive-definite square matrix] .R input weighting matrix for the LQR approach applied to determine the terminal controller [{zeros(nu)} / positive-definite square matrix] .maxDist maximum distance for convergence criterion [{1e-2} / positive scalar] .genMethod method for computing the fixed generator matrix for the terminal set [{'termSet'} / 'sampling2D', 'provided'] .G generator matrix for the terminal set (for; Opts.genMethod = 'provided' only) .costFun cost function used for the optimization problem [{'geomean'} / 'sum', 'none'] .cora.taylorTerms taylor order for computing e^At [{4} / positive integer] .cora.zonotopeOrder maximum zonotope order [{150} / positive integer]

Output Arguments

T	object of class termRegZonoLinSys

See Also

terminalRegion, termRegZonoLinSys

References

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Published with MATLAB® R2022a