%% closedLoopTracking
% dynamic equtions for the controlled system
% (tracking controller)
%
%% Syntax
%
% <html>
%        <div class="syntax">
% f = closedLoopTracking(x,w,p,dyn,nu) <br>
%        </div>
% </html>
%
%% Description
% This function contains the dynamic equations for the system
% controlled with the tracking controller u = u_ref + K (x - x_ref)
%
%% 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">
%            extended system state [x;x_ref] (dimension: [2*nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            w
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            disturbances (dimension: [nw,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            p
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            parameter vector containing the reference control
%            input and the entries of the feedback matrix
%            (dimension: [nu*(nx+1),1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            dyn
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            function handle specifying the open-loop dynamics
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            nu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of system inputs (scalar)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguements
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            f
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            value of the dynamic equtions (dimension: [2*nx,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <reachsetMPChelp.html |reachsetMPC|>
%
%% References
% * *[1] Schuermann et al. (2018)*, Reachset Model Predictive Control
% for Disturbed Nonlinear Systems
%

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