Computes forward or backwards reachable sets
[S, SN] = system.reachableSet('X', X, 'U', U, 'N', N, 'direction', ['forward'|'backwards'])
X |
Polyhedron defining state constraints (optional) Class: polyhedron |
U |
Polyhedron defining input constraints (optional) Class: polyhedron |
direction |
Flag to switch between forward and backwards reachability. Class: char |
N |
Number of steps (defaults to 1). Class: double |
S |
Set of states reachable in ![]() Class: Polyhedron |
SN |
Set of states reachable at each step. Class: cell |
sys = LTISystem('A', [1 1; 0 1], 'B', [1; 0.5]);Specify domain of states and inputs
X = Polyhedron('lb', [-1; -1], 'ub', [1; 1]); U = Polyhedron('lb', -1, 'ub', 1);Compute forward reachable set.
S = sys.reachableSet('X', X, 'U', U, 'direction', 'forward');
S.plot()
sys = LTISystem('A', [1 1; 0 1], 'B', [1; 0.5]);Specify domain of states and inputs
X = Polyhedron('lb', [-1; -1], 'ub', [1; 1]); U = Polyhedron('lb', -1, 'ub', 1);Compute the backward reachable set.
S = sys.reachableSet('X', X, 'U', U, 'direction','backward');
S.plot()
◀ | invariantset | update | ▶ |
© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk