Code to compute halfspace intersections, redundancy detection and removal, inner-approximations, convex hull, RPI sets and Pontryagin difference using Zonotopes and Constrained Zonotopes.

Applied numerical example of these methods to reachability analysis in the context of hierarchical model predictive control.

Example codes uses MATLAB R2019b or higher, MPT Toolbox, YALMIP and Gurobi

Data Files - Contains the simulation data to plot results

Library Functions - Contains the custom libraries used by main code in Applied Examples

Applied Examples - Contains the m-files of various examples