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diff --git a/Submission files/generate_params_z.m b/Submission files/generate_params_z.m
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+++ b/Submission files/generate_params_z.m
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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% 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