Reachability-Based Method for Control Performance Analysis

International audienceA simulation-based method to analyze the performance of a class of uncertain nonlinear systems controlled by linear state-feedback controllers is proposed in this work. The aim is to certificate numerically the ability of a given linear controller to steer a nonlinear system from its initial state set to its desired target set without violating the state and input constraints. To achieve that, first, we propose a new reachability analysis method for discrete-time systems. Then we establish a set-membership check-list to evaluate the expected performance of the linear controller. A case-study borrowed from the literature is presented to illustrate the principle of the proposed approach and to show its effectiveness