1 files changed, 0 insertions, 55 deletions
diff --git a/templates/generate_params_z.m b/templates/generate_params_z.m
deleted file mode 100644
index a7cfaa9..0000000
--- a/templates/generate_params_z.m
+++ /dev/null
@@ -1,55 +0,0 @@
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% 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