%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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