INVARIANT SET COMPUTATION FOR LINEAR INPUT DELAY SYSTEMS

Abstract

The robust controlled invariant set computation method for discrete-time linear systems with input delay is described in this report. The method involves in calculating maximal robust control invariant set is by creating an auxiliary linear system which does not have delay in input, that system has the same state-space dimension as the system with input delay and linking the auxiliary system’s maximal invariant set to the maximal invariant set of the original system. And we have also proposed a method to find minimal robust control invariant sets which involve the concept of zonotope containment and 1-step optimization. Safety assurance is more challenging for systems with input delays in the presence of disturbances, and including extra information about the disturbance is more vital in such situations. The computational time is also reduced as compared to that of previous methods. We have used zonotope to reduce the complexity of calculation.