Computation of invariant sets
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
% 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()