%% closedLoopSystemLin
% constructs a linear system for the closed-loop
% dynamics
%
%% Syntax
%
% <html>
%        <div class="syntax">
% dx = closedLoopSystemLin(A,B,D,c,K,u_ref,V) <br>
%        </div>
% </html>
%
%% Description
% This function contructs a linear system object for the closed-loop
% dynamics for the optimization based controller from the system
% matrices of the uncontrolled system and the control law parameters.
%
%% 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">
%            A
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            system matrix of the open-loop system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            B
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            input matrix of the open-loop system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            D
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            disturbance matrix of the open-loop system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            c
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            constant offset vector of the open-loop system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            K
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            feedback matrix for the control law u = u_ref + K(x-x_ref)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            u_ref
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference input for the control law u = u_ref + K(x-x_ref)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            V
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of measurement errors
%        </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">
%            sys
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            linear system object for the closed-loop dynamics
%            (class: linearSys)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimizationBasedControlhelp.html |optimizationBasedControl|>
%

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