arXiv2025
The zonotope containment problem, i.e., whether one zonotope is contained in another, is a central problem in control theory. Applications include detecting faults and robustifying controllers by computing invariant sets, and obtain fixed points in reachability analysis. Despite the inherent co-NP-hardness of this problem, an approximation algorithm developed by S. Sadraddini and R. Tedrake has gained widespread recognition for its swift execution and consistent reliability in practice. In our study, we substantiate the precision of the algorithm with a definitive proof, elucidating the empirical accuracy observed in practice. Our proof hinges on establishing a connection between the containment problem and the computation of matrix norms, thereby enabling the extension of the approximation algorithm to encompass ellipsotopes -- a broader class of sets derived from zonotopes. We also explore the computational complexity of the ellipsotope containment problem with a focus on approximability. Finally, we present new methods to compute safe sets for linear dynamical systems, demonstrating the practical relevance of approximating the ellipsotope containment problem.