mpt_invariantSet

MPT_INVARIANTSET Computes (robust) positive invariant subset of an explicit controller

   invCtrl = mpt_invariantSet(ctrl)
   invCtrl = mpt_invariantSet(ctrl, Options)

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 DESCRIPTION
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 Computes the maximal (robust) positive invariant set of a given explicit
 controller.

 NOTE: This function is NOT available for on-line controllers.

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 INPUT
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 ctrl              - explicit controller (an MPTCTRL object)
 Options.verbose   - Level of verbosity {0|1|2}
 Options.nohull    - If set to 1, do not compute convex unions (may
                     significantly prolong run-time)
 Options.maxIter   - maximum number of iterations. Set is not invariant if
                     iteration is aborted prior to convergence (default is 200)
 Options.useTmap   - If set to true (default), transition map will be
                     computed to rule out certain transitions
 Options.mergefinal - If set to true (default is false), tries to simplify
                      final result by merging regions
 Options.sphratio  - Gives factor which governs maximum number of separating
                     hyperplanes computed in transition maps. Number of
                     separating  hyperplnaes computed at each step is given by
                     length(Pn)*length(targetPn) / Options.ratio
                     Default value is 20.
                     Set this option to 0 if you don't want to impose any limit
                     on number of separating hyperplanes.

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 OUTPUT                                                                                                    
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 invCtrl   - invariant subset of a given explicit controller

 see also MPT_INFSETPWA