%% costFun
% cost function for nonlinear programming
%
%% Syntax
%
% <html>
%        <div class="syntax">
% cost = costFun(x,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function computes the costs for a specific value for the
% control law parameters. For this, the reachable set is computed and
% the distance of the final reachable set to the target state is
% computed as the cost.
%
%% Input Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            current value of the control law parameters
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the following options
%        </p>
%        <p class="table">
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .linModel
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the system matrices of the
%            uncontrolled system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .ReachOpts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the settings for
%            reachability analysis
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uc
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            center trajectory control inputs
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            cost
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            value of the cost function
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimizationBasedControlhelp.html |optimizationBasedControl|>, <conFunhelp.html |conFun|>
%
%% References
% * *[1] Schuermann et al. (2017)*, Optimal Control of Sets of
% Solutions to Formally Guarantee Constraints of Disturbed
% Linear Systems
%

%%
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