%% computeTermRegNonlinSysLinApproach
% computes a terminal region with the
% successive convexification approach proposed in [1]
%
%% Syntax
%
% <html>
%        <div class="syntax">
% T = computeTermRegNonlinSysLinApproach(benchmark,Params,Opts) <br>
%        </div>
% </html>
%
%% Description
% Successive convexification procedure proposed in [1] for the
% computation of a possibly large terminal region (here: robust
% control invariant set) for a nonlinear sampled-data system.
%
%% 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">
%             benchmark
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            name of the considered benchmark model
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%             Param
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing the algorithm parameters
%        </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">
%            .X
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible states (class: interval)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .U
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible control inputs (class: interval)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .W
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of disturbances (class: interval)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%             Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing the algorithm settings
%        </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">
%            .N
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of time steps
%            [&#123;10&#125; / positive integer]
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .Ninter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of intermediate time steps
%            [&#123;1&#125; / positive integer]
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .timeStep
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            sampling time [&#123;0.1&#125; / positive scalar]
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .xEq
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            equilibrium point for the terminal region
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uEq
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            control input for the equilirium point
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .termRegOrder
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            desired order of the zonotope representing
%            the terminal region [&#123;5&#125; / positive integer]
%        </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">
%            T
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object of class termRegNonlinSysLinApproach
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See also
% <terminalRegionhelp.html |terminalRegion|>, <termRegNonlinSysLinApproachhelp.html |termRegNonlinSysLinApproach|>
%
%% References
% [1] L. Schäfer et al. "Scalable Computation of Robust Control
% Invariant Sets of Nonlinear Systems", 2023, IEEE Transactions
% on Automatic Control
%

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