p = [0.05, 0.1];
params = generate_params();
params = generate_params_z(params);
K_tube = compute_tube_controller(p,params);
[H_tube, h_tube, n_iter] = compute_minRPI(K_tube, params);
params = compute_tightening(K_tube, H_tube, h_tube, params);

Q = diag([300,0.1]);R = 1;N = 50;
[H_N, h_N] = lqr_maxPI(Q, R, params);

% MPC_TUBE_obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params);
matfile = struct("p", p, "K_tube", K_tube, "H_tube", H_tube, "h_tube", h_tube,...
                "H_N", H_N, "h_N", h_N, "params_z_tube", params);
save("MPC_TUBE_params.mat", "-struct", "matfile");