Accurate Approximation of the Largest Null-Controllable Set for Single-Input Bilinear Systems

We present a method for the accurate approximation of the largest null-controllable set N-infinity for constrained bilinear systems. It is central to the presented approach that a simple quantitative measure of the accuracy of approximation can be determined. This measure can be used as a termination criterion for an iterative approximation of N-infinity with step sets. If the termination criterion is met, the proposed method results in an inner approximation of N-infinity that covers a requested percentage of N-infinity.