This directory contains files for generating the figure and animation
for 

Alexander B. Kurzhanski, Ian M. Mitchell & Pravin Varaiya, "Control
Synthesis for State Constrained Systems and Obstacle Problems," in
IFAC Symposium on Nonlinear Control Systems in Vienna (September 2004).



The files in this directory are:

1) figureNolcos: Generates a version of the figure appearing in the
    paper.  Primarily concerned with parameters and creating a pretty
    figure.

2) animateNolcos: Generates an avi animation of the growth of the
    reach set.  Primarily concerned with parameters and creating a
    pretty animation.

3) nolcos: The workhorse file, which computes the motion of the reach
    set using routines from the toolbox.



These examples require version 1.0 of the Toolbox of Level Set
Methods by Ian Mitchell, which can be downloaded from 

	 http://www.cs.ubc.ca/~mitchell/ToolboxLS

These examples require the presence of an <addPathToKernel> script
file in the directory above the one in which this README exists.
Normally this script can be a copy of the script
<Examples/addPathToKernel> from the toolbox download (after it has
been modified to point to your own Toolbox installation).



Questions or comments can be sent to mitchell@cs.ubc.ca

Ian Mitchell
University of British Columbia
02 September 2004
