Explicit invariant approximation of the mRPI set for LTI dynamics with zonotopic disturbances
Florin Stoican, Morten Hovd, Sorin Olaru · 2013
In this paper we provide a robust positive invariance (RPI) over-approximation of the minimal RPI (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.