function dx = vanderPolparamEq(x,u,p)
% vanderPolparamEq - system dynamics for the Van-der-Pol oscillator 
%                    (see Sec. VII in [1])
%
% Syntax:
%    dx = vanderPolparamEq(x,u,p)
%
% Inputs:
%    x - state vector
%    u - input vector
%    p - parameter vector
%
% Outputs:
%    dx - time-derivate of the system state
% 
% References:
%    [1] M. Althoff et al. "Reachability analysis of nonlinear systems with 
%        uncertain parameters using conservative linearization", CDC 2008

% Authors:       Matthias Althoff
% Written:       22-May-2020
% Last update:   ---
% Last revision: ---

% ------------------------------ BEGIN CODE -------------------------------

mu = 1;

dx(1,1)= p(1)*x(2);
dx(2,1)= mu*(1-x(1)^2)*x(2)*p(2)-x(1)+u(1);

% ------------------------------ END OF CODE ------------------------------
