implicit_stateInputContainment
sets up the containment-based constraints on the state and input for the containmentLinSys algorithm
Contents
Syntax
[variables, constraints] = implicit_stateInputContainment(optsInternal, containmentType, Rtp, Rti, utotal, preH, s)
Input Arguments
containmentType: Either 'ellipsoid' or 'zonotope'
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
preH: matrix multiplied to the left of Diag(s) (see setOptsInternal.m)
s: scaling factors stored as sdpvar variables
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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