%% computeAbstrErrDim
% identifies the states of the dynamical system that
% contribute to its Lagrange remainder
%
%% Syntax
%
% <html>
%        <div class="syntax">
% remStates = computeAbstrErrDim(opts) <br>
%        </div>
% </html>
%
%% Description
% By evaluating the Lagrange remainder for the (augmented) set of
% admissible states and computing the gradient, the states that
% contribute to the Lagrange remainder are identified. The Lagrange
% remainder is evaluated or, more precisely, over-approximated using
% the approach in [2, Sec. 5].
%
%% 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">
%             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">
%            .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>
%    <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">
%            .nx
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            dimension of state space (class: bouble)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .sys.nlSys
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object of class nonlinearSys
%        </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">
%             remStates
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            array of indices of the states contributing to the
%            Lagrange remainder
%        </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
% [2] M. Althoff et al. "Reachability Analysis of Nonlinear Systems
% with Uncertain Parameters using Conservative Linearization",
% 2008 47th IEEE Conference on Decision and Control, 2008,
% pp. 4042-4048
%

%%
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