stateAndInputConstraints

compute state and input constraints

Contents

Syntax

Description

This function computes augmented state and input constraints for the whole time horizon Opts.N. The constraints are fulfilled if the output variable con <= 0.

Input Arguments

Param	a structure containing the benchmark parameters .U set of admissible control inputs (class: interval or zonotope) .W set of uncertain disturbances (class: interval or zonotope) .V set of measurement errors (class: interval or zonotope) .X set of state constraints (class: mptPolytope)
Opts	a structure containing following options .TpOrTi consider reachable sets at time point only (Opts.TpOrTi = 'Tp') or also the time interval reachable sets (Opts.TpOrTi = 'Ti') .Tdomain search domain for the terminal region (class:; interval) .N number of time steps
R	cell-array containing overall reachable sets
auxTerm	cell-array containing auxiliary terms for the curvature of the time interval reachable set
initSet	initial set

Output Arguments

con	vector storing the resulting constraints

See Also

reachControlledLTISystem, computeTermRegZonoLinSys

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Published with MATLAB® R2022a