Convex Computation of the Maximum Controlled Invariant Set For Polynomial Control Systems
Convex Computation of the Maximum Controlled Invariant Set For Polynomial Control Systems
We characterize the maximum controlled invariant (MCI) set for discrete- as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and compact semialgebraic state and control constraints, we describe a hierarchy of finite-dimensional linear matrix inequality (LMI) relaxations whose …