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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 [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params)
% YOUR CODE HERE
A = params.model.A+params.model.B*K_tube;
nx = params.model.nx;
omega = Polyhedron('A',[eye(nx);-eye(nx)],'b',zeros(1,2*nx)');
% display(omega.A)
% display(omega.b)
n_iter = 0;
Hw = params.constraints.DisturbanceMatrix;
hw = params.constraints.DisturbanceRHS;
while true
omega_last = copy(omega);
% display(n_iter)
% A_last = omega.A;
% b_last = omega.b;
omega = omega.plus(Polyhedron('A',Hw*(A^n_iter),'b',hw));
if eq(omega.minHRep(),omega_last.minHRep())
% if eq(omega,omega_last)
break
end
n_iter = n_iter+1;
end
H_tube = omega.A;
h_tube = omega.b;
end
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