%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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
    miu = params.model.GravitationalParameter;
    r = params.model.TargetRadius;
    omega_n = sqrt(miu/(r^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*omega_n^2,0,0,0,2*omega_n,0;
          0,0,0,-2*omega_n,0,0;
          0,0,-omega_n^2,0,0,0];
    Bc = [zeros(3,3);1/m*eye(3)];
end