fixed_stateInputContainment
sets up the containment-based constraints on the state and input for the linSys algorithm, with fixed terminal set
Contents
Syntax
[variables, constraints] = fixed_stateInputContainment(optsInternal, containmentType, Rtp, Rti, utotal, preH, s)
Input Arguments
Rtp: cell array of structs describing the time-point solutions
Rti: cell array of structs describing the time-interval solutions
utotal: cell array of structs describing the input
terminalSet: terminal set, as computed by fixed_terminalSet
Description
This function prepares the necessary constraints needed to solve the optimization problem for the containmentLinSys algorithm, assuming one uses Yalmip.
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