%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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 [Ac, Bc] = generate_system_cont(params)
    % YOUR CODE HERE
    wn=sqrt(params.model.GravitationalParameter/(params.model.TargetRadius)^3);
    m=params.model.Mass;
    Ac=[0,0,0,1,0,0;
        0,0,0,0,1,0;
        0,0,0,0,0,1;
        3*wn^2,0,0,0,2*wn,0;
        0,0,0,-2*wn,0,0;
        0,0,-wn^2,0,0,0];
    Bc = [zeros(3,3);1/m*eye(3)];
end