reachControlledLTISystem

compute reachable sets for controlled LTI system

Contents

Syntax

Description

This function computes reachable sets for controlled linear time-invariant systems. We consider additional terms required for the multiplication of a zonotope and a interval matrix separately to ensure convexity of the subsequent optimization problem, because abs(abs(X)) terms are problematic.

Input Arguments

Opts	a structure containing following options .TpOrTi compute reachable sets at time point only (Opts.TpOrTi = 'Tp') or also the time interval reachable sets (Opts.TpOrTi = 'Ti') .N number of time-steps until safe terminal set is reached starting in safe initial set .XKX feedback matrix for the extended system dynamics .taylor struct containing the propagation matrices for the linear system
R0	initial set (given by Z-matrix storing center; and generators)
inpSets	multidimensional array storing the centers and generators of the input correction zonotopes
Rpar	particluar solution due to uncertain inputs
Rtrans	particular solution due to constant inputs

Output Arguments

R	cell-array containing overall reachable sets
auxTerm	cell-array containing auxiliary terms required for the constraints

See Also

computeTermRegZonoLinSys

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Published with MATLAB® R2022a