%% computeTerminalRegion
% compute a terminal region
%
%% Syntax
%
% <html>
%        <div class="syntax">
% T = computeTerminalRegion(benchmark,alg,Param,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function first computes a terminal controller that stabilizes
% the system around the specified equilibrium, and then computes a
% terminal region for the contolled system with the selected
% algorithm.
%
%% 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">
%            benchmark
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            name of the considered benchmark model (see;
%            "aroc/benchmarks/dynamics/...")
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            alg
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            string specifying the algorithm that is used to
%            calculate the terminal region. The available
%            algorithms are <tt>'subpaving'</tt> (see [1]), <tt>'linSys'</tt> (see;
%            [2],[3]) and <tt>'nonlinSysOpt'</tt> (see [4],[5])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Param
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a struct containing the benchmark parameters
%        </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">
%        </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 / zonotope)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%            –.V:        set of measurement errors V
%            (class: interval / zonotope)
%            –.X:        set of state constraints X
%            (class: polytope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a struct containing the algorithm settings
%        </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">
%            T
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object of class terminalRegion
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <terminalRegionhelp.html |terminalRegion|>, <termRegSubpavinghelp.html |termRegSubpaving|>, <matlab:doc('termRegZonoLinSys') termRegZonoLinSys>
% <matlab:doc('termRegNonlinSsyOptApproach') termRegNonlinSsyOptApproach>
%
%% References
% * *[1]  El-Guindy et al., "Estimating the region of attraction via
% forward reachable sets", 2017, American Control Conference
% * *[2]  Gruber et al., "Computing safe sets of linear sampled-data
% systems", 2021, IEEE Control Syst. Lett., vol. 5,
% no. 2, pp. 385-390
% * *[3]  A. Kulmburg et al., "Approximability of the Containment
% Problem for Zonotopes and Ellipsotopes", 2025, IEEE
% Transactions on Automatic Control, vol. 70, no. 12,
% pp. 8104-8119.
% * *[4]  L. Schäfer et al., "Scalable Computation of Robust Control
% Invariant Sets of Nonlinear Systems", 2024, IEEE Transactions
% on Automatic Control, vol. 69, no. 2, pp. 755-770.
% * *[5]  L. Schäfer and M. Althoff, "Computing Robust Control
% Invariant Sets of Nonlinear Systems Using Polynomial
% Controller Synthesis," 2024 American Control Conference,
% pp. 4162-4169.
%

%%
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