%% computeInputZonotope
% Compute a zonotope approximating the inputs
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [c,G] = computeInputZonotope(uCorner,uCenter,zonoR,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function computes a zonotope for the input values. This
% zonotope corresponds the linear control law evaluated on the state
% zonotope (see Sec. 5 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">
%            uCorner
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            optimal control inputs for the corner trajectories
%            (dimension: [nu,2^nx])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            uCenter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            optimal control inputs for the center trajectory
%            (dimension: [nx, Opts.Nc])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            zonoR
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            parallelotope which is an overapproximation of the
%            initial zonotope zono (class zonotope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing user defined options for the
%            algorithm
%        </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">
%            c
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            center of the input zonotope
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            G
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            generator matrix of the input zonotope
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <convexInterpolationControlhelp.html |convexInterpolationControl|>, <computeLinearControllerhelp.html |computeLinearController|>
%
%% References
% * *[1] Schuermann et al. (2017)*, Convex interpolation control with
% formal guarantees for disturbed and constrained nonlinear
% systems
%

%%
% <html>
%   <hr>
%   <p class="copy">&copy; 2018-2026 I6 Technische Universit&auml;t M&uuml;nchen
%        <tt class="minicdot">&#149;</tt>
%        <a href="https://tumcps.github.io/AROC/">Website</a>
%        <tt class="minicdot">&#149;</tt>
%        <a href="file:txts/LICENSE.txt">License</a>
%   </p>
% <div>
% <table>
%  <tr>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%             <img src="img/logoAroc.png" alt="logoAroc" height="40px">
%      </td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoCora.png" alt="logoCora" height="40px"></td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoChair.png" alt="logoChair" height="40px"></td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoTum.png" alt="logoTum" height="40px"></td>
%  </tr>
% </table>
% </div>
% </html>
