Controlled Invariant Sets: Implicit Closed-Form Representations and Applications
Tzanis Anevlavis, Zexiang Liu, Necmiye Özay, Paulo Tabuada
Abstract
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets. Moreover, by considering such representations in the space of states and finite input sequences we obtain <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">closed-form</i> expressions for controlled invariant sets. An immediate advantage is the ability to handle high-dimensional systems since the closed-form expression is computed in a single step rather than iteratively. To validate the proposed method, we present thorough case studies illustrating that in safety-critical scenarios the implicit representation suffices in place of the explicit invariant set. The proposed method is complete in the absence of disturbances, and we provide a weak completeness result when disturbances are present.