ReachabilityAnalysis.GLGM06
— TypeGLGM06{N, AM, S, D, NG, P, RM} <: AbstractContinuousPost
Implementation of Girard - Le Guernic - Maler algorithm for reachability of linear systems using zonotopes.
Fields
δ
– step-size of the discretizationapprox_model
– (optional, default:FirstOrderZonotope
) approximation model; seeNotes
below for possible optionsmax_order
– (optional, default:5
) maximum zonotope orderstatic
– (optional, default:false
) iftrue
, convert the problem data to statically sized arraysdim
– (optional default:missing
) ambient dimensionngens
– (optional, default:missing
) number of generatorspreallocate
– (optional, default:true
) iftrue
, use the implementation which preallocates the zonotopes prior to applying the update rulereduction_method
– (optional, default:GIR05()
) zonotope order reduction method useddisjointness_method
– (optional, default:NoEnclosure()
) method to check disjointness between the reach-set and the invariant
Notes
The type fields are:
N
– number type of the step-sizeAM
– approximation modelS
– value type associated to thestatic
optionD
– value type associated to the dimension of the systemNG
– value type associated to the number of generatorsP
– value type associated to thepreallocate
optionRM
– type associated to the reduction method
The sole parameter which doesn't have a default value is the step-size, associated to the type parameter N
. Parameters D
and NG
are optionally specified (default to Missing
). These parameters are needed for implementations that require the size of the zonotopes to be known (fixed) at compile time, namely the static=true
version of this algorithm. Otherwise, the number of generators is not necessarily fixed.
The default approximation model is
approx_model=FirstOrderZonotope()
Here, FirstOrderZonotope
refers to the forward-time adaptation of the approximation model from Lemma 3 in [FRE11]. Some of the options to compute this approximation can be specified, see the documentation of FirstOrderZonotope
for details.
References
The main ideas behind this algorithm can be found in [GIR05] and [GLGM06]. These methods are discussed at length in the dissertation [LG09].
Regarding the zonotope order reduction methods, we refer to [COMB03], [GIR05] and the review article [YS18].
Regarding the approximation model, we use an adaptation of a result in [FRE11].