ZonoLAB: A MATLAB Toolbox for Set-Based Control Systems Analysis Using Hybrid Zonotopes

Justin Koeln, Trevor J. Bird, Jacob Siefert, Justin Ruths, Herschel C. Pangborn, Neera Jain

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces zonoLAB, a MATLAB-based toolbox for set-based control system analysis using the hybrid zonotope set representation. Hybrid zonotopes have proven to be an expressive set representation that can exactly represent the reachable sets of mixed-logical dynamical systems and tightly approximate the reachable sets of nonlinear dynamic systems. Moreover, hybrid zonotopes can exactly represent the continuous piecewise linear control laws associated with model predictive control and the input-output mappings of neural networks with piecewise linear activation functions. The hybrid zonotope set representation is also highly exploitable, where efficient methods developed for mixed-integer linear programming can be directly used for set operation and analysis. The zonoLAB toolbox is designed to make these capabilities accessible to the dynamic systems and controls community, with functionality spanning fundamental operations with hybrid zonotope, constrained zonotope, and zonotope set representations, powerful set analysis tools, and general-purpose algorithms for reachability analysis of open- and closed-loop systems.

Original languageEnglish (US)
Title of host publication2024 American Control Conference, ACC 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2513-2520
Number of pages8
ISBN (Electronic)9798350382655
DOIs
StatePublished - 2024
Event2024 American Control Conference, ACC 2024 - Toronto, Canada
Duration: Jul 10 2024Jul 12 2024

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2024 American Control Conference, ACC 2024
Country/TerritoryCanada
CityToronto
Period7/10/247/12/24

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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