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Invariance

UI.Invariance History

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July 27, 2013, at 10:57 PM by Michal Kvasnica -
July 27, 2013, at 10:56 PM by Michal Kvasnica -
Added lines 1-2:
! Computation of invariant sets
July 27, 2013, at 10:56 PM by Michal Kvasnica -
Added lines 1-14:
In MPT3, invariant sets are computed via the @@toInvariant@@ method. When applied to an autonomous system, the method computes the maximal positively invariant set. When applied to a non-autonomous system, the maximal control invariant set is computed.

!! Example

(:source lang=MATLAB :) [@
% computes a control invariant set for LTI system x^+ = A*x+B*u
system = LTISystem('A', [1 1; 0 0.9], 'B', [1; 0.5]);
system.x.min = [-5; -5];
system.x.max = [5; 5];
system.u.min = -1;
system.u.max = 1;
InvSet = system.invariantSet()
InvSet.plot()
@]