Solvers
Flowpipe computation
CommonSolve.solve
— Functionsolve(prob::AbstractControlProblem, args...; kwargs...)
Solve the control problem defined by prob
.
Input
prob
– controlled problem
Additional options are passed as arguments or keyword arguments; see the notes below for details. See the online documentation for examples.
Output
The solution of a reachability problem controlled by a periodic controller. The control signals are stored in the ext
field with each flowpipe.
Notes
Mandatory arguments
- Use the
tspan
keyword argument to specify the time span (start time and time
horizon); it can be a tuple, an interval, or a vector with two components. Alternatively, use the T
keyword argument to specify only the time horizon, in which case the start time is assumed to be zero.
- Use the
algorithm_plant
keyword argument to specify the algorithm for the
plant.
- Use the
algorithm_controller
keyword argument to specify the algorithm for
the controller.
Optional arguments
- Use the
splitter
andinput_splitter
keyword arguments to specify a
splitter.
Default: NoSplitter()
- Use the
reconstruction_method
keyword arguments to specify a reconstruction
method for the interface between plant and controller.
Default: TaylorModelReconstructor()
Trajectory simulation
ClosedLoopReachability.simulate
— Functionsimulate(cp::AbstractControlProblem, args...; kwargs...)
Simulate a controlled system for a family of random trajectories.
Input
cp
– controlled problemtrajectories
– (optional, default:10
) number of simulated trajectories
Output
An object of type EnsembleSimulationSolution
.
Notes
This function uses the ensemble simulations feature from OrdinaryDiffEq.jl
.