Explicit Invariant Approximation of the Mrpi Set for LTI Dynamics with Zonotopic Disturbances
Abstract
In this paper we provide a RPI over-approximation of the 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.