%% extendedDynamicsMeasErr
% dynamic equtions for the controlled system
%
%% Syntax
%
% <html>
%        <div class="syntax">
% dx = extendedDynamicsMeasErr(x,w,p,nx,nu,forig,Ahan,Bhan) <br>
%        </div>
% </html>
%
%% Description
% This function implements the closed-loop dynamics for a system
% controlled with the combined controller, where measurement errors
% are explicitely considered.
%
%% 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">
%            x
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            extended system state (dimension: 5*nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            w
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            disturbances (dimension: [nw+nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            p
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            parameter vector containing control law parameter
%            (dimension: [2*nu*nx+nx+2*nu,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            nu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of system states (scalar)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            nu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of system inputs (scalar)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            nw
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of disturbances (scalar)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            forig
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            function handle to the dynamic function of the original
%            open-loop system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Ahan
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            function handle to the system matrix of the linearized
%            system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Bhan
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            function handle to the input matrix of the linearized
%            system
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguements
%
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            dx
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            value of the dynamic equtions (dimension: [4*nx,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <combinedControlhelp.html |combinedControl|>
%
%% References
% * *[1] Schuermann et al. (2018)*, Reachset Model Predictive Control
% for Disturbed Nonlinear Systems
%

%%
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%        <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>
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