Explicit Invariant Approximation of the Mrpi Set for LTI Dynamics with Zonotopic Disturbances

Morten Hovd (1) , Florin Stoican (2, 1) , Sorin Olaru (3, 2)

1 ITK NTNU - Department of Engineering Cybernetics [Trondheim]
2 E3S - Supélec Sciences des Systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

In this paper we provide a RPI over-approximation of the mRPI set associated for linear dynamics with zonotopic disturbances.We prove that the RPI construction converges toward the mRPI set and its conservatism diminishes monotonically with respect to the complexity of the representation (a "tightness" coefficient is calculated a priori). The results are tested in illustrative examples.

Domaines: Automatique / Robotique

Morten Hovd, Florin Stoican, Sorin Olaru. Explicit Invariant Approximation of the Mrpi Set for LTI Dynamics with Zonotopic Disturbances. 52nd IEEE Conference on Decision and Control CDC 2013, Dec 2013, Firenze, Italy. pp.3237-3242, ⟨10.1109/CDC.2013.6760377⟩. ⟨hal-00918195⟩