Hello everyone.
I'm going to simulate a Constrained Nonlinear MPC, so I have to find an invariant terminal set for my nonlinear system
Is there any special toolkit or toolbox for doing so? or it must be determined analytically.
Thanks so much for your help.
In case of linear systems, you might want check a book at following link: http://www.mpc.berkeley.edu/mpc-course-material . In Chapter 11 is covered this issue.
Hello Saeed, if the system is linear there are a lot of techniques based on polytopes and zonotopes sets. If the system is non-linear it becomes quite hard to compute them and the strategies are only for special functions as control-affine systems or using interval arithmetic methods. Check this book:
Set-Theoretic Methods in Control
Authors: Franco Blanchini, Stefano Miani
Also there is a toolbox called INTLAB interval toolbox 1999.
"Pluymers et al. : "The Efficient Computation of Polyhedral Invariant Sets
for Linear Systems with Polytopic Uncertainty"
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