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% 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.
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function [Ac, Bc] = generate_system_cont(params)
  % YOUR CODE HERE
	omega_n_sq = params.model.GravitationalParameter / params.model.TargetRadius^3;
	omega_n = sqrt(omega_n_sq);

	Ac = [
		zeros(3), eye(3);
		3*omega_n_sq, 0, 0,           0,          2*omega_n, 0;
		0,            0, 0,           -2*omega_n, 0,         0;
		0,            0, -omega_n_sq, 0,          0,         0;
	];

	Bc = [zeros(3);  eye(3);] / params.model.Mass;
end