Computing robust control invariant sets of constrained nonlinear systems: A graph algorithm approach

This paper deals with the computation of largest robust control invariant sets (RCISs) constrained nonlinear systems. The proposed approach is based on casting search for set as a graph theoretical problem. Specifically, general class discrete-time time-invariant systems considered. First, dynamics system approximated directed graph. Subsequently, condition invariance derived and an algorithm computing presented. combines iterative subdivision technique to produce outer approximations at each iteration. Following this, we prove convergence RCIS iterations proceed infinity. Based developed algorithms, compute inner also A special case input affine disturbance Finally, two numerical examples are presented demonstrate efficacy method.