%% costSetDistance
% sum of distances of the reachable sets to the terminal
% region
%
%% Syntax
%
% <html>
%        <div class="syntax">
% Jset = costSetDistance(R,poly,alpha) <br>
%        </div>
% </html>
%
%% Description
% This function computes the sum of distances of reachable sets at
% discrete time points to the terminal region (see Eq. (13) in [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">
%            R
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Cell array containing the reachable sets at discrete time
%            points
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing 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">
%            .termReg
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            terminal region around the steady state xf
%            (class: polytope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .alpha
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            contraction rate for the contraction constraint
%            [&#123;0.1&#125; / alpha > 0]
%        </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">
%            Jset
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Summed distances of the points in x to the terminal region
%        </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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