Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Reachability analysis of discrete-time systems with disturbances


Sasa V. Rakovic, E. Kerrigan, D. Mayne, J. Lygeros

IEEE Transactions on Automatic Control, vol. 51, pp. 546-561

This paper presents new results that allow one to compute the set of states that can be robustly steered in a finite number of steps, via state feedback control, to a given target set. The assumptions that are made in this paper are that the system is discrete-time, nonlinear and time-invariant and subject to mixed constraints on the state and input. A persistent disturbance, dependent on the current state and input, acts on the system. Existing results are not able to address state- and input-dependent disturbances and the results in this paper are, therefore, a generalization of previously published results. One of the key aims of this paper is to present results such that one can perform the relevant set computations using polyhedral algebra and computational geometry software, provided the system is piecewise affine and the constraints are polygonal. Existing methods are only applicable to piecewise affine systems that either have no control inputs or no disturbances, whereas the results in this paper remove this limitation. Some simple examples are also given that show that, even if all the relevant sets are convex and the system is linear, convexity of the set of controllable states cannot be guaranteed.

Further Information

Type of Publication:


File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@Article { RakEtal:2006:IFA_2524,
    author={Sasa V. Rakovic and E. Kerrigan and D. Mayne and J. Lygeros},
    title={{Reachability analysis of discrete-time systems with
    journal={IEEE Transactions on Automatic Control},
Permanent link