reachSetHorizon

reachable set computation for the closed-loop system for the whole prediction horizon

Contents

Syntax

Description

This function computes the reachable set for the closed loop system for the whole prediction horizon

Input Arguments

sys	object containing the dynamics of the closed-loop system (class: nonlinParamSys)
R0	initial set for reachablity analysis (class: zonotope)
param	a structure containing following options .xc reference trajectory (dimension: [nx,N+1]) .uc reference trajectory control inputs (dimension: [nu,N]) .K cell-array containing the computed feedback matrices for the tracking controller .R cell-array containing the time point reachable sets .Rcont cell-array containing the time interval reachable sets .J summed distance of the reference trajectory points from the terminal region .L value of the objective function (=cost) of the reference trajectory .Jset summed distance of the reachable sets from the terminal region
Opts	a structure containing following options .nx number of system states .dT time step. Prediction horizon: Opts.N * Opts.dT .termReg terminal region around the steady state xf (class: mptPolytope) .fbContr struct with name and parameter of the applied tracking controller .ReachOptsTrack reachability options for the CORA toolbox

Output Arguments

param	updated struct of control law parameters
res	flag that specifies if final reachable set is fully contained in the terminal region (0 or 1)

See Also

reachsetMPC

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Published with MATLAB® R2022a