Backward Reachability Using Integral Quadratic Constraints for Uncertain Nonlinear Systems

A method is proposed to compute robust inner-approximations the backward reachable set of nonlinear systems and generate a control law that drives trajectories starting in these target set. The merges dissipation inequalities integral quadratic constraints (IQCs) with both hard soft IQC factorizations, allowing for variety perturbations including parametric uncertainty, unmodeled dynamics, uncertain time delays. Computational algorithms are developed using generalized S-procedure sum-of-squares techniques, illustrated on 6-state quadrotor actuator uncertainties.