%% reachLinearController
% reachabilty analysis for the linear approximation
% of the exact control law
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [Rfin,reachSet] = reachLinearController(dynamic,R0,cu,Gu,inputAssign,Opts) <br>
%        </div>
% </html>
%
%% Description
% Computes the reachable set at the end of one timestep of the
% center trajectory as well as all reachable sets during this
% timestep.
%
%% 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">
%            dynamic
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object containing the system dynamics (class:;
%            nonlinearSys)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            R0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            extended initial zonozope, which contains the state
%            as well as the auxiliary states (dimension: 2*nx)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            cu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell array containing the center vectors of the
%            input zonotopes for each intermediate timestep
%            (dimension cell array: Opts.Ninter,;
%            diemnsion entries: [nu,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Gu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell array containing the generator matrices of the
%            input zonotopes for each intermediate timestep
%            (dimension cell array: Opts.Ninter,;
%            diemnsion entries: [nu,nx])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            inputAssign
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            Matrix that encode the information which generator
%            of the first input zonotope belongs to which
%            generator of the initial state zonotope R0
%            (dimension: [nx,zonotope order of R0])
%        </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">
%            Rfinal
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            final zonotope at the end of reachability analysis
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            reachSet
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell array containing the reachable sets of all
%            intermediate time steps
%        </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
%

%%
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