%% compReachSet
% reachable set computation for the closed-loop system
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [R,Rcont] = compReachSet(sys,K,uc,xc,p,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function computes the reachable set for the closed loop system
% starting from teh point p.
%
%% 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">
%            sys
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object containing the dynamics of the closed-loop system
%            (class: nonlinParamSys)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            K
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            feedback matrix for the tracking controller
%            (dimension: [nu,nx])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            uc
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference control input (dimension: [nu,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            xc
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference point of center trajectory (dimension: [nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            p
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial point for the reachable set computation
%            (dimension: [nx,1])
%        </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">
%            .nx
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of system states
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .tComp
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            time allocated to perform the computations
%            for the optimizations
%            (0 < Opts.tComp < Opts.dT).
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .ReachOptsTrack
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reachability options for the CORA toolbox
%        </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">
%            Rfin
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            final reachable set
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Rcont
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array containing the time interval reachable sets
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <reachsetMPChelp.html |reachsetMPC|>
%

%%
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