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