In this technical communiqué we study the maximal robust positively invariant set for state-constrained continuous-time nonlinear systems subjected to a bounded disturbance. Extending results from the theory of barriers, we show that this set is closed and that its boundary consists of two complementary parts, one of which we name the invariance barrier, which consists of trajectories that satisfy the maximum principle.

中文翻译：

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约束非线性系统的最大鲁棒正不变集

在本技术公报中，我们研究了受约束扰动的状态约束连续时间非线性系统的最大鲁棒正不变集。扩展障碍理论的结果，我们表明该集合是封闭的，其边界由两个互补部分组成，我们称其中之一为不变障碍，该不变障碍由满足最大原理的轨迹组成。