%% approxAbsErrQuad_coefficients
% coefficients of the quadratic
% approximation of the abstraction error.
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [quadCoeff,bilinCoeff,trCoeff] = approxAbsErrQuad_coefficients(obj,nlSys,termRegSet,W) <br>
%        </div>
% </html>
%
%% Description
% This function computes the coefficients of the quadratic
% approximation of the abstraction error proposed in [1, Proposition
% 1].
%
%% 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">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            instance of class
%            computeTermRegNonlinSysLinApproach
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            nlSys
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            nonlinear system object
%            (class: nonlinearSys / nonlinearSysDT)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            termRegSet
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            candidate terminal region
%            (class: zonotope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            W
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of disturbances
%            (class: zonotope)
%        </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">
%            quadCoeff
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            coefficients of the quadratic terms [1, Eq. 27a]
%            (array of dimension [obj.nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            bilinCoeff
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            coefficients of the bilinear terms in [1, Eq. 27a]
%            (array of dimension [obj.nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            trCoeff
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            coefficients of the linear term, see [1, Eq. 27b]
%            (array of dimension [obj.nx,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <matlab:doc('@computeTermRegNonlinSysLinApproach/approxAbsErrQuad_eval') @computeTermRegNonlinSysLinApproach/approxAbsErrQuad_eval>
%
%% References
% [1] L. Schäfer et al. "Scalable Computation of Robust Control
% Invariant Sets of Nonlinear Systems", in IEEE Transactions
% on Automatic Control, vol. 69, no. 2, pp. 755-770, 2024
%

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