An obstruction to solvability of the reach control problem using affine feedback

This paper studies the reach control problem (RCP) using affine feedback on simplices. The contributions of this paper are threefold. First, we identify a new obstruction to solvability of the RCP using affine feedback and provide necessary and sufficient conditions for occurrence of such an obstruction. Second, for two-input systems, these conditions are formulated in terms of scalar linear inequalities. Third, computationally efficient necessary conditions are proposed for checking the obstruction for multi-input systems as feasibility programs in terms of linear inequalities. In contrast to the previous work in the literature, no assumption is imposed on the set of possible equilibria, so the results are applicable to the general RCP.