FIX: .gitignore

61 files changed, 899 insertions, 1 deletions

diff --git a/.MATLABDriveTag b/.MATLABDriveTag
new file mode 100644
index 0000000..af1004a
--- /dev/null
+++ b/.MATLABDriveTag
@@ -0,0 +1 @@
+9f0ef51f-d175-4c24-a3c1-c33c3e5da8cc
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index d69bff0..d620272 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1 @@
-./tbxmanager
\ No newline at end of file
+tbxmanager/
\ No newline at end of file
diff --git a/install_mpt3.m b/install_mpt3.m
new file mode 100644
index 0000000..97981dd
--- /dev/null
+++ b/install_mpt3.m
@@ -0,0 +1,108 @@
+%% installation of tbxmanager with all submodels required for MPT
+%
+
+clc;
+disp('----------------------------------------------');
+disp('Installation of MPT using the Toolbox manager.');
+disp('----------------------------------------------');
+disp(' ');
+fprintf(['Choose the installation directory where to install the Toolbox manager.\n',...
+      'A new folder "tbxmanager" is going to be created in the specified location.\n',...
+      'If you do not specify the folder, the Toolbox manager will be installed in the current directory.\n']);
+
+% get the installation folder
+default_dir = pwd;
+c = uigetdir(pwd);
+if isequal(c,0);
+    fprintf(['No directory has been provided.\n',... 
+        'Installing the toolbox manager in the current directory "%s"?\n'],default_dir);
+    c = default_dir;
+end
+ 
+% create a new directory in that folder
+d = [c,filesep,'tbxmanager'];
+if isequal(exist(d,'dir'),7)
+    error('The installation directory "%s" already exists.\nPlease, remove or rename the folder or change the installation path.',d);
+end
+disp('Creating the directory "tbxmanager".');
+out = mkdir(d);
+if ~out
+    error(['An error appear when trying to create the folder "%s".\n',...
+          'Please, install the Toolbox manager manually.'],c); 
+end
+
+% enter that directory
+cd(d);
+
+% remove MPT2 or YALMIP
+disp(' ');
+disp('Removing toolboxes that may conflict with MPT from the Matlab path.');
+rmpath(genpath(fileparts(which('mpt_init'))));
+rmpath(genpath(fileparts(which('yalmipdemo'))));
+
+
+% download the tbxmanager
+disp(' ');
+disp('Downloading the Toolbox manager from the internet.');
+[f, c] = urlwrite('http://www.tbxmanager.com/tbxmanager.m', 'tbxmanager.m');
+rehash;
+
+if isequal(c,0)
+    error('Could not download the Toolbox manager from the internet. The installation cannot continue.');
+end
+
+% install all required modules
+tbxmanager install mpt mptdoc cddmex fourier glpkmex hysdel lcp sedumi yalmip 
+
+% create the initialization file to set the path 
+disp(' ');
+disp('Creating the initialization file "startup.m".');
+p = which('startup.m');
+if isempty(p)
+    p = [d,filesep,'startup.m'];
+end
+fid = fopen(p,'a');
+if isequal(fid,-1)
+    error(['Could not modify the initialization file "startup.m".',...
+           'Edit this file in the folder "%s" manually and insert there the line:  tbxmanager restorepath.'],p);
+end
+fprintf(fid,'tbxmanager restorepath\n');
+fclose(fid);
+disp('File has been created.');
+
+% get back to the original directory
+cd(default_dir);
+
+% add path to tbxmanager
+disp(' ');
+disp('Adding path to Matlab.');
+addpath(d);
+
+% save path for future
+disp(' ');
+disp('Saving path for future sessions.');
+status = savepath;
+
+if status
+    fprintf('Could not save the path to a default location,\nplease provide a location where you want to save the path.');
+    cn = uigetdir(pwd);
+    if isequal(cn,0)
+        disp(' ');
+        fprintf('No directory specified, saving the path to the current directory "%s".\n\n',default_dir);
+        cn = default_dir;
+    end
+    sn = savepath([cn,filesep,'pathdef.m']);
+    if sn
+        error(['Could not save the path automatically.\n',...
+            'Please, open the "Set Path" button in the Matlab menu and save the path manually to some location.']);
+    end
+end
+
+disp(' ');
+disp('Installation finished.');
+disp('Next time you start Matlab the toolboxes will be automatically initialized.');
+
+% initialize MPT
+disp(' ');
+disp('Initializing the MPT.')
+mpt_init;
diff --git a/project2023.pdf b/project2023.pdf
new file mode 100644
index 0000000..bde0b0a
--- /dev/null
+++ b/project2023.pdf
diff --git a/templates/.MATLABDriveTag b/templates/.MATLABDriveTag
new file mode 100644
index 0000000..7aad4f3
--- /dev/null
+++ b/templates/.MATLABDriveTag
@@ -0,0 +1 @@
+f7c7757b-ada0-4bff-af70-1240edb65e6d
\ No newline at end of file
diff --git a/templates/LICENSE.txt b/templates/LICENSE.txt
new file mode 100644
index 0000000..685f12c
--- /dev/null
+++ b/templates/LICENSE.txt
@@ -0,0 +1,7 @@
+Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+
+All rights reserved.
+
+The files are provided for educational purposes only and should be distributed only to the attendees of the class "151-0660-00L Model Predictive Control FS2023".
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/templates/LQR.m b/templates/LQR.m
new file mode 100644
index 0000000..2a79da9
--- /dev/null
+++ b/templates/LQR.m
@@ -0,0 +1,27 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef LQR
+    properties
+        K
+    end
+    
+    methods
+        %constructor
+        function obj = LQR(Q,R,params)
+            % YOUR CODE HERE
+            % obj.K = ... (save feedback matrix for use in eval function)
+        end
+        
+        function [u, ctrl_info] = eval(obj,x)
+            % YOUR CODE HERE
+            % u = ...
+            ctrl_info = struct('ctrl_feas',true);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC.m b/templates/MPC.m
new file mode 100644
index 0000000..3e9d2f1
--- /dev/null
+++ b/templates/MPC.m
@@ -0,0 +1,45 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC(Q,R,N,params)
+            nu = params.model.nu;
+            nx = params.model.nx;
+
+            % define optimization variables
+            U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+            X0 = sdpvar(nx,1,'full');
+
+            % YOUR CODE HERE
+            
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            
+            [u, objective] = optimizer_out{:};
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC_TE.m b/templates/MPC_TE.m
new file mode 100644
index 0000000..e0b55d2
--- /dev/null
+++ b/templates/MPC_TE.m
@@ -0,0 +1,36 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC_TE
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC_TE(Q,R,N,params)
+            % YOUR CODE HERE
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            [u, objective] = optimizer_out{:};
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC_TE_forces.m b/templates/MPC_TE_forces.m
new file mode 100644
index 0000000..5625f32
--- /dev/null
+++ b/templates/MPC_TE_forces.m
@@ -0,0 +1,38 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC_TE_forces
+    properties
+        forces_optimizer
+    end
+
+    methods
+        function obj = MPC_TE_forces(Q,R,N,params)
+            % YOUR CODE HERE
+            opts = getOptions('forcesSolver');
+            opts.printlevel = 0;
+            obj.forces_optimizer = % YOUR CODE HERE
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            [optimizer_out,errorcode,info] = obj.forces_optimizer(x);
+            u = optimizer_out;
+            objective = info.pobj;
+            solvetime = info.solvetime;
+
+            feasible = true;
+            if any(errorcode ~= 1)
+                feasible = false;
+                warning('MPC infeasible');
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC_TS.m b/templates/MPC_TS.m
new file mode 100644
index 0000000..05f92ff
--- /dev/null
+++ b/templates/MPC_TS.m
@@ -0,0 +1,36 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC_TS
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC_TS(Q,R,N,H,h,params)
+            % YOUR CODE HERE
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            [u, objective] = optimizer_out{:};
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC_TS_SC.m b/templates/MPC_TS_SC.m
new file mode 100644
index 0000000..0e64767
--- /dev/null
+++ b/templates/MPC_TS_SC.m
@@ -0,0 +1,36 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC_TS_SC
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC_TS_SC(Q,R,N,H,h,S,v,params)            
+            % YOUR CODE HERE
+            opts = sdpsettings('verbose',1,'solver','quadprog','quadprog.TolFun',1e-8);
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            [u, objective] = optimizer_out{:};
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/MPC_TUBE.m b/templates/MPC_TUBE.m
new file mode 100644
index 0000000..bd62044
--- /dev/null
+++ b/templates/MPC_TUBE.m
@@ -0,0 +1,40 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC_TUBE
+    properties
+        yalmip_optimizer
+        K_tube
+    end
+
+    methods
+        function obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params)
+            obj.K_tube = K_tube;
+
+            % YOUR CODE HERE
+
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{V{1} Z{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            % YOUR CODE HERE
+            
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
\ No newline at end of file
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m
new file mode 100644
index 0000000..0b4ffdb
--- /dev/null
+++ b/templates/compute_minRPI.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params)
+    % YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/templates/compute_tightening.m b/templates/compute_tightening.m
new file mode 100644
index 0000000..8919d12
--- /dev/null
+++ b/templates/compute_tightening.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function params = compute_tightening(K_tube,H_tube,h_tube,params)  
+	% YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/templates/compute_tube_controller.m b/templates/compute_tube_controller.m
new file mode 100644
index 0000000..adca95d
--- /dev/null
+++ b/templates/compute_tube_controller.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function K_tube = compute_tube_controller(p,params)
+	% YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/templates/dummy_test.m b/templates/dummy_test.m
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/templates/dummy_test.m
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m
new file mode 100644
index 0000000..f87ac26
--- /dev/null
+++ b/templates/generate_constraints.m
@@ -0,0 +1,19 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [H_u, h_u, H_x, h_x] = generate_constraints(params)
+    % YOUR CODE HERE
+    u_max = params.constraints.MaxAbsThrust;
+    h_u = u_max * ones(6,1);
+    H_u = [eye(3);-eye(3)];
+    
+    s_max = params.constraints.MaxAbsPositionXZ;
+    y_max = params.constraints.MaxAbsPositionY;
+    h_x = [s_max;y_max;s_max;s_max;y_max;s_max];
+    H_x = [eye(3);-eye(3)];
+end
\ No newline at end of file
diff --git a/templates/generate_disturbances.m b/templates/generate_disturbances.m
new file mode 100644
index 0000000..570a4c9
--- /dev/null
+++ b/templates/generate_disturbances.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function Wt = generate_disturbances(params)
+    % YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/templates/generate_params.m b/templates/generate_params.m
new file mode 100644
index 0000000..e2e6024
--- /dev/null
+++ b/templates/generate_params.m
@@ -0,0 +1,73 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [params] = generate_params()
+params = struct();
+
+Tf = 60*60*24 * 2; % = 2 days
+dt = 60 * 10; % = 10 minutes
+
+% model
+params.model = struct(...
+    'nx', 6, ...
+    'nu', 3, ...
+    'Mass', 300, ...
+    'GravitationalParameter', 3.986e14, ...
+    'ScalingMatrix', [1e-6*eye(3), zeros(3); zeros(3), 1e-3*eye(3)], ...
+    'TargetRadius', 7000e3, ...
+    'TimeStep', dt, ...
+    'HorizonLength', ceil(Tf / dt), ...
+    'InitialConditionA', [-15e-3; -400e-3; 24.4e-3; 0; 0.0081; 0], ...
+    'InitialConditionB', [-20e-3; 400e-3; 24.4e-3; 0; 0.0108; 0], ...
+    'InitialConditionC', [0.02; 0.01; -0.005; 0; 0; 0] ...
+);
+
+% constraints
+params.constraints = struct(...
+    'MaxAbsPositionXZ', 0.1, ...
+    'MaxAbsPositionY', 1, ...
+    'MaxAbsThrust', 1, ...
+    'MaxFinalPosDiff' , 3e-4, ...
+    'MaxFinalVelDiff',  1e-3 ...
+);
+
+params.exercise = struct( ...
+    'QdiagOptA', [94.0; 0.1579; 300; 0.01; 0.10; 0.10] ...
+);
+    
+% YOUR CODE HERE
+[Ac, Bc] = generate_system_cont(params);
+[A_tilta, B_tilta] = generate_system(Ac, Bc, params);
+[A, B] = generate_system_scaled(A_tilta, B_tilta, params);
+[Hu, hu, Hx, hx] = generate_constraints(params);
+
+params.model.A = A;
+params.model.B = B;
+
+params.constraints.InputMatrix = Hu;
+params.constraints.InputRHS = hu;
+params.constraints.StateMatrix = Hx;
+params.constraints.StateRHS = hx;
+
+% new_model_struct = struct(...
+%             'A', A, ...
+%             'B', B ...
+% );
+
+% new_constr_struct = struct(...
+%             'InputMatrix', Hu,...
+%             'InputRHS', hu,...
+%             'StateMatrix', Hx,...
+%             'StateRHS', hx ...
+% )
+
+
+% params.model = [params.model new_model_struct];
+% params.constraints = [params.constraints, new_constr_struct];
+
+end
diff --git a/templates/generate_params_z.m b/templates/generate_params_z.m
new file mode 100644
index 0000000..a7cfaa9
--- /dev/null
+++ b/templates/generate_params_z.m
@@ -0,0 +1,55 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [params_z] = generate_params_z(params)
+% initialize params_z
+params_z = params;
+
+% add initial condition of z-subsystem
+params_z.model = rmfield(params_z.model,{'InitialConditionA', ...
+                             'InitialConditionB', ...
+                             'InitialConditionC'});
+params_z.model.InitialConditionA_z = [-0.07;0.04]; % TODO: tune
+
+% define projection matrices
+T_z_x = [0 0 1 0 0 0;
+         0 0 0 0 0 1];
+T_z_u = [0 0 1];
+
+% projected system dynamics
+params_z.model.A = T_z_x*params.model.A*T_z_x';
+params_z.model.B = T_z_x*params.model.B*T_z_u';
+params_z.model.nx = 2;
+params_z.model.nu = 1;
+
+% state constraints
+Hx = params.constraints.StateMatrix * T_z_x';
+hx = params.constraints.StateRHS;
+X = Polyhedron('A',Hx,'b',hx);
+X.minHRep();
+
+params_z.constraints.StateMatrix = X.A;
+params_z.constraints.StateRHS = X.b;
+
+% input constraints
+Hu = params.constraints.InputMatrix * T_z_u';
+hu = params.constraints.InputRHS;
+U = Polyhedron('A',Hu,'b',hu);
+
+params_z.constraints.InputMatrix = U.A; 
+params_z.constraints.InputRHS = U.b;
+
+% disturbance constraints
+max_disturbance = 1e-4; % TODO: chose
+params_z.constraints.MaxAbsDisturbance = max_disturbance;
+H_w = kron(eye(params_z.model.nx),[1;-1]);
+h_w = ones(2*params_z.model.nx, 1) * max_disturbance;
+
+params_z.constraints.DisturbanceMatrix = H_w;
+params_z.constraints.DisturbanceRHS = h_w;
+end
diff --git a/templates/generate_system.m b/templates/generate_system.m
new file mode 100644
index 0000000..c4dadc2
--- /dev/null
+++ b/templates/generate_system.m
@@ -0,0 +1,19 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [A, B] = generate_system(Ac, Bc, params)
+    % YOUR CODE HERE
+    % Ts = 600;
+    sysc = ss(Ac, Bc, [], []);
+    Ts = params.model.TimeStep;
+    sysd = c2d(sysc,Ts);
+    % A = eye(params.model.nx) + Ac * Ts;
+    % B = Bc * Ts;
+    A = sysd.A;
+    B = sysd.B;
+end
\ No newline at end of file
diff --git a/templates/generate_system_cont.m b/templates/generate_system_cont.m
new file mode 100644
index 0000000..770fd8e
--- /dev/null
+++ b/templates/generate_system_cont.m
@@ -0,0 +1,22 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [Ac, Bc] = generate_system_cont(params)
+    % YOUR CODE HERE
+    miu = params.model.GravitationalParameter;
+    r = params.model.TargetRadius;
+    omega_n = sqrt(miu/(r^3));
+    m = params.model.Mass;
+    Ac = [0,0,0,1,0,0;
+          0,0,0,0,1,0;
+          0,0,0,0,0,1;
+          3*omega_n^2,0,0,0,2*omega_n,0;
+          0,0,0,-2*omega_n,0,0;
+          0,0,-omega_n^2,0,0,0];
+    Bc = [zeros(3,3);1/m*eye(3)];
+end
\ No newline at end of file
diff --git a/templates/generate_system_scaled.m b/templates/generate_system_scaled.m
new file mode 100644
index 0000000..38714d2
--- /dev/null
+++ b/templates/generate_system_scaled.m
@@ -0,0 +1,15 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [A,B] = generate_system_scaled(At,Bt,params)
+    % YOUR CODE HERE
+    % V = diag([1e-6, 1e-6, 1e-6, 1e-3, 1e-3, 1e-3]);
+    V = params.model.ScalingMatrix;
+    A = V*At*inv(V);
+    B = V*Bt;
+end
\ No newline at end of file
diff --git a/templates/lqr_maxPI.m b/templates/lqr_maxPI.m
new file mode 100644
index 0000000..efa335a
--- /dev/null
+++ b/templates/lqr_maxPI.m
@@ -0,0 +1,12 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [H, h] = lqr_maxPI(Q,R,params)
+	% YOUR CODE HERE
+end
+
diff --git a/templates/lqr_tuning.m b/templates/lqr_tuning.m
new file mode 100644
index 0000000..4a26158
--- /dev/null
+++ b/templates/lqr_tuning.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [tuning_struct, i_opt] = lqr_tuning(x0,Q,params)
+    % YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/templates/plot_trajectory.m b/templates/plot_trajectory.m
new file mode 100644
index 0000000..9bcb696
--- /dev/null
+++ b/templates/plot_trajectory.m
@@ -0,0 +1,126 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [fig_time,axes_time,fig_pos,axes_pos] = plot_trajectory(x,u,ctrl_info,params)
+    fig_time = figure;
+    
+    % check if input is 3-dimensional
+    n_traj = size(x,3);
+    assert(size(u,3) == n_traj);
+    assert(size(ctrl_info,3) == n_traj);
+
+    nx = params.model.nx;
+    assert(nx == size(x,1));
+
+    t = 0:params.model.TimeStep:params.model.TimeStep*params.model.HorizonLength;
+
+    % plot
+    axes_time = cell(5,1);
+    axes_time{1} = subplot(5,1,1);
+    hold on;
+
+    for i = 1:n_traj
+        plot(axes_time{1},t,x(1,:,i),'DisplayName',sprintf('x_%d',i));
+        plot(axes_time{1},t,x(3,:,i),'DisplayName',sprintf('z_%d',i));
+    end
+    legend('Location','EastOutside')
+
+    % max position
+    x_max = params.constraints.MaxAbsPositionXZ;
+    plot(axes_time{1}, [t(1); t(end)],[x_max; x_max],'k--','HandleVisibility','off');
+    plot(axes_time{1}, [t(1); t(end)],[-x_max; -x_max],'k--','HandleVisibility','off');
+    ylabel('Position [Mm]')
+
+    axes_time{2} = subplot(5,1,2);
+    hold on;
+    for i = 1:n_traj
+        plot(axes_time{2},t,x(2,:,i),'DisplayName',sprintf('y_%d',i));
+    end
+
+    % max position
+    y_max = params.constraints.MaxAbsPositionY;
+    plot(axes_time{2},[t(1); t(end)],[y_max; y_max],'k--','HandleVisibility','off');
+    plot(axes_time{2},[t(1); t(end)],[-y_max; -y_max],'k--','HandleVisibility','off');
+
+    legend('Location','EastOutside')
+    ylabel('Position [Mm]')
+
+    axes_time{3} = subplot(5,1,3);
+    hold on;
+    for i = 1:n_traj
+        plot(axes_time{3},t,x(4,:,i),'DisplayName',sprintf('v_{x%d}',i));
+        plot(axes_time{3},t,x(5,:,i),'DisplayName',sprintf('v_{y%d}',i));
+        plot(axes_time{3},t,x(6,:,i),'DisplayName',sprintf('v_{z%d}',i));
+    end
+
+    legend('Location','EastOutside')
+    ylabel('Velocity [km/s]')
+
+    axes_time{4} = subplot(5,1,4);
+    hold on;
+    % append one input value for plotting
+    u(:,length(t),:) = u(:,length(t)-1,:);
+    for i = 1:n_traj
+        stairs(axes_time{4},t,u(1,:,i)','DisplayName',sprintf('u_{x%d}',i));
+        stairs(axes_time{4},t,u(2,:,i)','DisplayName',sprintf('u_{y%d}',i));
+        stairs(axes_time{4},t,u(3,:,i)','DisplayName',sprintf('u_{z%d}',i));
+    end
+
+    % max thrust
+    thrust_max = params.constraints.MaxAbsThrust;
+    plot([t(1); t(end)],[thrust_max; thrust_max],'k--','HandleVisibility','off');
+    plot([t(1); t(end)],[-thrust_max; -thrust_max],'k--','HandleVisibility','off');
+    legend('Location','EastOutside')
+    ylabel('Thrust [N]')
+
+    % feasibility
+    axes_time{5} = subplot(5,1,5);
+    hold on;
+    for i = 1:n_traj
+        % append one input value for plotting
+        ctrl_feas = [ctrl_info(:,:,i).ctrl_feas];
+        ctrl_feas(length(t)) = ctrl_feas(length(t) - 1);
+        stairs(axes_time{5},t,ctrl_feas','DisplayName',sprintf('feas_%d',i));
+    end
+    legend('Location','EastOutside')
+    ylabel('Controller feasible [0/1]')
+
+    % link axes
+    axes_time = [axes_time{:}];
+    linkaxes(axes_time,'x');
+    xlabel('Time [s]')
+
+    % plot without time
+    % YX-plane
+    fig_pos = figure;
+    axes_pos = cell(2,1);
+    axes_pos{1} = subplot(2,1,1);
+    hold on
+    colormap('hsv')
+
+    for i = 1:n_traj
+        plot(axes_pos{1},x(2,:,i),x(1,:,i));
+    end
+
+    axis equal
+    xlabel('Y-Position [m]')
+    ylabel('X-Position [Mm]')
+
+    % YZ plane
+    axes_pos{2} = subplot(2,1,2);
+    hold on
+    for i = 1:n_traj
+        plot(axes_pos{2},x(2,:,i),x(3,:,i))
+    end
+    axis equal
+    xlabel('Y-Position [Mm]')
+    ylabel('Z-Position [Mm]')
+
+    axes_pos = [axes_pos{:}];
+    linkaxes(axes_pos,'x');
+end
\ No newline at end of file
diff --git a/templates/plot_trajectory_z.m b/templates/plot_trajectory_z.m
new file mode 100644
index 0000000..1b5a842
--- /dev/null
+++ b/templates/plot_trajectory_z.m
@@ -0,0 +1,78 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+function [fig_time,axes_time,fig_pos,axes_pos] = plot_trajectory_z(x,u,ctrl_info,params)
+    fig_time = figure;
+
+    % check if input is 3-dimensional
+    n_traj = size(x,3);
+    assert(size(u,3) == n_traj);
+    assert(size(ctrl_info,3) == n_traj);
+
+    nx = params.model.nx;
+    assert(nx == size(x,1));
+
+    t = 0:params.model.TimeStep:params.model.TimeStep*params.model.HorizonLength;
+
+    % plot
+    axes_time = cell(4,1);
+    axes_time{1} = subplot(4,1,1);
+    hold on;
+
+    for i = 1:n_traj
+        plot(axes_time{1},t,x(1,:,i),'DisplayName',sprintf('z_%d',i));
+    end
+    legend('Location','EastOutside')
+
+    % max position
+    x_max = params.constraints.MaxAbsPositionXZ; %*T(1);
+    plot(axes_time{1}, [t(1); t(end)],[x_max; x_max],'k--','HandleVisibility','off');
+    plot(axes_time{1}, [t(1); t(end)],[-x_max; -x_max],'k--','HandleVisibility','off');
+    ylabel('Position [Mm]')
+
+    axes_time{2} = subplot(4,1,2);
+    hold on;
+    for i = 1:n_traj
+        plot(axes_time{2},t,x(2,:,i),'DisplayName',sprintf('v_{z%d}',i));
+    end
+    legend('Location','EastOutside')
+    ylabel('Velocity [km/s]')
+
+    axes_time{3} = subplot(4,1,3);
+    hold on;
+    % append one input value for plotting
+    u(:,length(t),:) = u(:,length(t)-1,:);
+    for i = 1:n_traj
+        stairs(axes_time{3},t,u(1,:,i)','DisplayName',sprintf('u_{z%d}',i));
+    end
+
+    % max thrust
+    thrust_max = params.constraints.MaxAbsThrust;
+    plot([t(1); t(end)],[thrust_max; thrust_max],'k--','HandleVisibility','off');
+    plot([t(1); t(end)],[-thrust_max; -thrust_max],'k--','HandleVisibility','off');
+    legend('Location','EastOutside')
+    ylabel('Thrust [N]')
+
+    % feasibility
+    axes_time{4} = subplot(4,1,4);
+    hold on;
+    for i = 1:n_traj
+        % append one input value for plotting
+        ctrl_feas = [ctrl_info(:,:,i).ctrl_feas];
+        ctrl_feas(length(t)) = ctrl_feas(length(t) - 1);
+        stairs(axes_time{4},t,ctrl_feas','DisplayName',sprintf('feas_%d',i));
+    end
+    legend('Location','EastOutside')
+    ylabel('Feasible [0/1]')
+
+    % link axes
+    axes_time = [axes_time{:}];
+    linkaxes(axes_time,'x')
+    xlabel('Time [s]')
+end
\ No newline at end of file
diff --git a/templates/simulate.m b/templates/simulate.m
new file mode 100644
index 0000000..3138cd1
--- /dev/null
+++ b/templates/simulate.m
@@ -0,0 +1,14 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params)
+
+% YOUR CODE HERE
+% Hint: you can access the control command with ctrl.eval(x(:,i))
+
+end
\ No newline at end of file
diff --git a/templates/simulate_uncertain.m b/templates/simulate_uncertain.m
new file mode 100644
index 0000000..dc9df26
--- /dev/null
+++ b/templates/simulate_uncertain.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [Xt,Ut,ctrl_info] = simulate_uncertain(x0, ctrl, Wt, params)
+	% YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/templates/traj_constraints.m b/templates/traj_constraints.m
new file mode 100644
index 0000000..4b0a081
--- /dev/null
+++ b/templates/traj_constraints.m
@@ -0,0 +1,12 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(x,u,params)
+    % YOUR CODE HERE
+end
+
diff --git a/templates/traj_cost.m b/templates/traj_cost.m
new file mode 100644
index 0000000..7e0b443
--- /dev/null
+++ b/templates/traj_cost.m
@@ -0,0 +1,11 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function J_Nt = traj_cost(Xt,Ut,Q,R)
+    % YOUR CODE HERE
+end
\ No newline at end of file
diff --git a/testing/.MATLABDriveTag b/testing/.MATLABDriveTag
new file mode 100644
index 0000000..91a4f10
--- /dev/null
+++ b/testing/.MATLABDriveTag
@@ -0,0 +1 @@
+da537f63-b054-4058-9b41-6907e21d5531
\ No newline at end of file
diff --git a/testing/TestFunction.p b/testing/TestFunction.p
new file mode 100644
index 0000000..7bb108c
--- /dev/null
+++ b/testing/TestFunction.p
diff --git a/testing/TestFunction_LQR.p b/testing/TestFunction_LQR.p
new file mode 100644
index 0000000..955ba03
--- /dev/null
+++ b/testing/TestFunction_LQR.p
diff --git a/testing/TestFunction_MPC.p b/testing/TestFunction_MPC.p
new file mode 100644
index 0000000..b802e23
--- /dev/null
+++ b/testing/TestFunction_MPC.p
diff --git a/testing/TestFunction_MPC_TE.p b/testing/TestFunction_MPC_TE.p
new file mode 100644
index 0000000..d035c80
--- /dev/null
+++ b/testing/TestFunction_MPC_TE.p
diff --git a/testing/TestFunction_MPC_TE_forces.p b/testing/TestFunction_MPC_TE_forces.p
new file mode 100644
index 0000000..81ff7ba
--- /dev/null
+++ b/testing/TestFunction_MPC_TE_forces.p
diff --git a/testing/TestFunction_MPC_TS.p b/testing/TestFunction_MPC_TS.p
new file mode 100644
index 0000000..23c4836
--- /dev/null
+++ b/testing/TestFunction_MPC_TS.p
diff --git a/testing/TestFunction_MPC_TS_SC.p b/testing/TestFunction_MPC_TS_SC.p
new file mode 100644
index 0000000..faef7e4
--- /dev/null
+++ b/testing/TestFunction_MPC_TS_SC.p
diff --git a/testing/TestFunction_MPC_TS_SC_script.p b/testing/TestFunction_MPC_TS_SC_script.p
new file mode 100644
index 0000000..e13715e
--- /dev/null
+++ b/testing/TestFunction_MPC_TS_SC_script.p
diff --git a/testing/TestFunction_MPC_TUBE.p b/testing/TestFunction_MPC_TUBE.p
new file mode 100644
index 0000000..4bac841
--- /dev/null
+++ b/testing/TestFunction_MPC_TUBE.p
diff --git a/testing/TestFunction_MPC_TUBE_script.p b/testing/TestFunction_MPC_TUBE_script.p
new file mode 100644
index 0000000..9946b16
--- /dev/null
+++ b/testing/TestFunction_MPC_TUBE_script.p
diff --git a/testing/TestFunction_compute_minRPI.p b/testing/TestFunction_compute_minRPI.p
new file mode 100644
index 0000000..9390f12
--- /dev/null
+++ b/testing/TestFunction_compute_minRPI.p
diff --git a/testing/TestFunction_compute_tightening.p b/testing/TestFunction_compute_tightening.p
new file mode 100644
index 0000000..d2e60ea
--- /dev/null
+++ b/testing/TestFunction_compute_tightening.p
diff --git a/testing/TestFunction_compute_tube_controller.p b/testing/TestFunction_compute_tube_controller.p
new file mode 100644
index 0000000..764bd90
--- /dev/null
+++ b/testing/TestFunction_compute_tube_controller.p
diff --git a/testing/TestFunction_generate_constraints.p b/testing/TestFunction_generate_constraints.p
new file mode 100644
index 0000000..6bff694
--- /dev/null
+++ b/testing/TestFunction_generate_constraints.p
diff --git a/testing/TestFunction_generate_disturbances.p b/testing/TestFunction_generate_disturbances.p
new file mode 100644
index 0000000..9dc80b6
--- /dev/null
+++ b/testing/TestFunction_generate_disturbances.p
diff --git a/testing/TestFunction_generate_params.p b/testing/TestFunction_generate_params.p
new file mode 100644
index 0000000..1ab5f90
--- /dev/null
+++ b/testing/TestFunction_generate_params.p
diff --git a/testing/TestFunction_generate_system.p b/testing/TestFunction_generate_system.p
new file mode 100644
index 0000000..74e80ac
--- /dev/null
+++ b/testing/TestFunction_generate_system.p
diff --git a/testing/TestFunction_generate_system_cont.p b/testing/TestFunction_generate_system_cont.p
new file mode 100644
index 0000000..8c48d90
--- /dev/null
+++ b/testing/TestFunction_generate_system_cont.p
diff --git a/testing/TestFunction_generate_system_scaled.p b/testing/TestFunction_generate_system_scaled.p
new file mode 100644
index 0000000..4176219
--- /dev/null
+++ b/testing/TestFunction_generate_system_scaled.p
diff --git a/testing/TestFunction_lqr_maxPI.p b/testing/TestFunction_lqr_maxPI.p
new file mode 100644
index 0000000..a2fc282
--- /dev/null
+++ b/testing/TestFunction_lqr_maxPI.p
diff --git a/testing/TestFunction_lqr_tuning.p b/testing/TestFunction_lqr_tuning.p
new file mode 100644
index 0000000..c97d218
--- /dev/null
+++ b/testing/TestFunction_lqr_tuning.p
diff --git a/testing/TestFunction_lqr_tuning_script.p b/testing/TestFunction_lqr_tuning_script.p
new file mode 100644
index 0000000..09f6896
--- /dev/null
+++ b/testing/TestFunction_lqr_tuning_script.p
diff --git a/testing/TestFunction_simulate.p b/testing/TestFunction_simulate.p
new file mode 100644
index 0000000..6751e46
--- /dev/null
+++ b/testing/TestFunction_simulate.p
diff --git a/testing/TestFunction_simulate_uncertain.p b/testing/TestFunction_simulate_uncertain.p
new file mode 100644
index 0000000..9ec7139
--- /dev/null
+++ b/testing/TestFunction_simulate_uncertain.p
diff --git a/testing/TestFunction_traj_constraints.p b/testing/TestFunction_traj_constraints.p
new file mode 100644
index 0000000..5805983
--- /dev/null
+++ b/testing/TestFunction_traj_constraints.p
diff --git a/testing/TestFunction_traj_cost.p b/testing/TestFunction_traj_cost.p
new file mode 100644
index 0000000..d05dae0
--- /dev/null
+++ b/testing/TestFunction_traj_cost.p
diff --git a/testing/linearController.p b/testing/linearController.p
new file mode 100644
index 0000000..ede2acc
--- /dev/null
+++ b/testing/linearController.p
diff --git a/testing/run_tests.p b/testing/run_tests.p
new file mode 100644
index 0000000..d233f5a
--- /dev/null
+++ b/testing/run_tests.p