This paper presents a direct data-driven approach for computing robust
control invariant (RCI) sets and their associated state-feedback control laws.
The proposed method utilizes a single state-input trajectory generated from the
system, to compute a polytopic RCI set with a desired complexity and an
invariance-inducing feedback controller, without the need to identify a model
of the system. The problem is formulated in terms of a set of sufficient LMI
conditions that are then combined in a semi-definite program to maximize the
volume of the RCI set while respecting the state and input constraints. We
demonstrate through a numerical case study that the proposed data-driven
approach can generate RCI sets that are of comparable size to those obtained by
a model-based method in which exact knowledge of the system matrices is
assumed. Under the assumption of persistency of excitation of the data, the
proposed algorithm guarantees robust invariance even with a small number of
data samples. Overall, the direct data-driven approach presented in this paper
offers a reliable and efficient counterpart to the model-based methods for RCI
set computation and state-feedback controller design.Comment: 9 pages, 4 figures, preprint submitted to 62nd IEEE Conference on
Decision and Control 202