Modeling and control of halfspace systems

A halfspace system has the form Ex/sub k+1/ /spl les/ Fx/sub k/ + Bu/sub k/, where E, F /spl isin/ /spl Rfr//sup m/spl times/n/, B /spl isin/ /spl Rfr//sup m/spl times/p/. An example of modeling in this framework is presented. Also presented are the concept of reachability of a static target tube and an algorithm for maintaining a halfspace system in the reachable static target tube.