This code is to accompany the paper: Backward reachability for polynomial systems on a finite horizon. It computes inner-approximations to the backward reachable set, and the accompanying control law.

He Yin (he_yin at berkeley.edu)

All the code is written in MATLAB.

There are four packages required:

• MOSEK: Commercial semidefinite programming solver
• SOSOPT: General SOS optimization utility
• Multipoly: Package used to represent multivariate polynomials
• Sedumi: Free semidefinite programming solver

Go to each example folder, and run the file Application.m