function approx_param = param(q) % This file contains all of the numerical paramters used for verification of the system.% For each value, a default parameter is used unless the user specifies one.% Added by Jim Kapinski 2/2002.% Some values added by OS, 06/2002.global GLOBAL_APARAMglobal GLOBAL_ODE_PARglobal GLOBAL_OPTIM_PAR% >>>>>>>>>>>> Parameter Change -- OS -- 06/13/02 <<<<<<<<<<<<% change of 'approx_param.W' moved to verify.m% >>>>>>>>>>>> -------------- end --------------- <<<<<<<<<<<<%List of default parameters.%***************************************************************************************************************************approx_param.dir_tol = [];                      % tolerance in the direction (angle offset)approx_param.var_tol = [];                      % length of the projection in the cellapprox_param.size_tol = [];                     % maximum size of each pieceapprox_param.T = 1;                             % size of each flowpipe segmentapprox_param.quantization_resolution = []; approx_param.max_bissection = 3;                % maximum number of bissection for simulation reachabilityapprox_param.max_time = Inf;                    % maximum time of processingapprox_param.reachability_depth = Inf; approx_param.W = []; approx_param.min_angle 		= 5;				% Angle value (degrees) for eliminating faces in the mappingapprox_param.med_angle 		= 10;				% Angle value (degrees) for eliminating faces in the mappingapprox_param.extra_angle	= 30;				% Angle value (degrees) for eliminating faces in the mappingapprox_param.max_angle 		= 110;				% Angle value (degrees) for eliminating faces in the mappingapprox_param.unbound_angle = 160;				% Angle value (degrees) for eliminating faces in the mappingapprox_param.edge_factor = 2;				    % Factor to decide if edge will be dropped in the mappingapprox_param.edge_med_length = 1000;	        % Factor to decide if an edge is too small (compared to the mean) to be eliminate%New parameters as of 2/2002approx_param.grow_size = 1e-3;                  % For growing operations (when there is a loss of dimension), objects are                                                % grown by this much ON EACH SIDE.approx_param.max_func_calls = 1e3;              % Maximum number of function evaluations allowed for fmincon operations.                                                % Note that this value will be multiplied by the system dimension.approx_param.func_tol = 1e-4;                   % Termination tolerance on the function value for fmincon operations.                                                % Note that this number will be multiplied by the time step size for                                                 % shrink wrapping operations during flowpipe computations.approx_param.max_iter = 1e4;                   % Number of iterations for fmincon calls. Note that this number will                                                % be multiplied by the dimension of the problem.%Polyhedral object parameters                                                approx_param.poly_epsilon = 1e-9;               %   *'epsilon'--tolerance used in feasibility checkapprox_param.poly_bigM = 1e9;                   %   *'bigM'--big M used to check constraint's redundancyapprox_param.poly_point_tol = 1e-12;            %   *'point_tol' tolerance used in point comparison (distance based)approx_param.poly_vector_tol = 1e-9;            %   *'vector_tol' tolerance used in vector comparison (direction based)approx_param.poly_hyperplane_tol = 1e-9;        %   *'hyperplane_tol'--tolerance used in hyperplane comparisonapprox_param.poly_bloat_tol = 1e-5;             %   *'bloat_tol'--tolerance used to bloat a polyhedron in flat dimensionsapprox_param.hull_flag = 'hyperrectangle';      %   *'hull_flag'--flag to choose between computation of a convex hull ('convexhull') or an oriented hyperrectangular hull ('hyperrectangle')approx_param.poly_svd_tol = 1e-6;               %   *'svd_tol'--tolerance below which singular values are considered to be zeroapprox_param.verbosity = 0;                     %   *'verbosity'--determines on a scale from 0 to 2 how much feedback is given during verification%Step responsesapprox_param.step_rel_tol = 1e-5;               % Relative tolerance for step responses.approx_param.step_abs_tol = 1e-6;              % Absolute tolerance for step responses.approx_param.perform_init_reachability = 1;     %Flag that tells CheckMate if initial reachability should be performed or not.                                                %('1' means perform initial reachability and '0' means do not)%***************************************************************************************************************************% Replace default parameters with user-defined values:if ~isempty(GLOBAL_APARAM)   param_temp=feval(GLOBAL_APARAM,q);   fieldlist=fieldnames(param_temp);   for i=1:length(fieldlist)      if isfield(approx_param,fieldlist{i})         approx_param=setfield(approx_param,fieldlist{i},getfield(param_temp,fieldlist{i}));      else         warning(['   User-specified parameter "',fieldlist{i},'" is invalid!'])              end   endend% Struct with parameters for numerical ODE solution:GLOBAL_ODE_PAR = odeset('RelTol',approx_param.step_rel_tol,'AbsTol',approx_param.step_abs_tol);% Struct with parameters for numerical ODE solution:GLOBAL_OPTIM_PAR = optimset('Display','off','LargeScale','off');return