# setupControlTemplates

initialize templates for polynomial controllers

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

[Uscalar,U] = setupControlTemplates(Opts)

## Description

Initialize the polynomial zonotopes that represent the polynomial control laws.

## Input Arguments

Opts | structure containing all options

## Output Arguments

Uscalar | template for the control law for a scalar control input
U | template for the control law for multiple control inputs and multiple time steps

## See Also

`polynomialControl`

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