Reachable Tube Computation of Uncertain LTI Systems using Support Functions

This paper addresses the problem of computation of reachable sets or tubes for uncertain linear time invariant systems. Instead, outer-approximations are frequently used for verification or control synthesis. However, inner-approximations have received less attention. In this paper, we present a method to obtain inner-approximations of reachable tubes based on Minkowski erosion and intersection operators, computed by means of support functions. The benefit of the proposed algorithm is assessed on a 5D example.