%% exactControlLaw
% implements the nonlinear control law
%
%% Syntax
%
% <html>
%        <div class="syntax">
% u = exactControlLaw(x,zonoR,uCorner) <br>
%        </div>
% </html>
%
%% Description
% This function implements the nonlinear control law which is based
% on exact convex combinations (see Sec. 4 in [1]).
%
%% 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">
%            system states x (dimension: [nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            zonoR
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            parallelotope for which the control law should be
%            calculated
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            uCorner
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            matrix storing the optimal control inputs for the
%            parallelotope vertices
%            (dimension: [nu,2^nx])
%        </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">
%            u
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            resuling control input = value of the control law
%            (dimension: [nu,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <convexInterpolationControlhelp.html |convexInterpolationControl|>, <dynamicsClosedLoopExacthelp.html |dynamicsClosedLoopExact|>
%
%% References
% * *[1] Schuermann et al. (2017)*, Convex interpolation control with
% formal guarantees for disturbed and constrained nonlinear
% systems
%

%%
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