reachableSet

Purpose

Computes forward or backwards reachable sets

Syntax

[S, SN] = system.reachableSet('X', X, 'U', U, 'N', N, 'direction', ['forward'|'backwards'])

Description

S = system.reachableSet('X', X, 'U', U, 'direction', 'forward') computes the forward reachable set for a PWA system, i.e.,

../../../../../fig/mpt/modules/ui/@PWASystem/reachableset2.png

S = system.reachableSet('X', X, 'U', U, 'direction', 'backward') computes the backward reachable set, i.e.,

../../../../../fig/mpt/modules/ui/@PWASystem/reachableset3.png

If X and/or U are not given, the constraints are extracted from state and input constraints. If direction is not specified, direction='forward' is assumed.

This function supports autonomous systems as well.

Input Arguments

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

Output Arguments

S

Set of states reachable in ../../../../../fig/mpt/modules/ui/@PWASystem/reachableset1.png steps.

Class: Polyhedron

SN

Set of states reachable at each step.

Class: cell


© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk