linearBackwardReach

backward reachable set for linearized system

Syntax
Description
Input Arguments
Output Arguments
See Also
References

Syntax

[R,H] = linearBackwardReach(goalSet,xCenter,uCenter,U,Opts)

Description

This function computes the backward reachable set starting from the goal set for the inearized system.

Input Arguments

goalSet

goal set that should be reached (class: zonotope)

xCenter

cell-array containing the reference trajectory states for all intermediate time steps

uCenter

cell-array containing the reference trajectory inputs for all intermediate time steps

U

cell-array containing the sets of admissble control inputs for all intermediate time steps

Opts

structure containing the following options

.Ninter

number of intermediate time steps

.nu

number of inputs

.nw

number of disturbances

.dt

time step size for one intermediate time step

.funHandle

function handle for the dynamic function

.linDyn.A

function handle to the system matrix of the linearize dynamics

.linDyn.B

function handle to the input matrix of the linearize dynamics

Output Arguments

R

backward reachable set (class: zonotope)

H

matrix storing the generator-to-input assignment

References

[1] Schuermann et al. (2019), Formal Safety Net Control Using Backward Reachability Analysis

R	backward reachable set (class: zonotope)
H	matrix storing the generator-to-input assignment