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% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
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% All rights reserved.
%
% Please see the LICENSE file that has been included as part of this package.
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function K_tube = compute_tube_controller(p,params)
	% YOUR CODE HERE
	Az = params.model.A;
	Bz  =params.model.B;
	% Bz = [params.model.B,eye(params.model.nx)];
	K_tube = -place(Az,Bz,p);
	% K_tube = K(1:params.model.nu,:);
end