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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.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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
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