classdef SwitchBetweenStableMLF < HybridSystem
    % Define the switched system as a subclass of HybridSystem.
    properties
        % Define variable class properties.
        ...
    end
    properties(SetAccess = immutable)
        % Define constant (i.e., "immutable") class properties.
        A1 = [-0.1, -1; 2, -0.1];
        A2 = [-0.1, -2; 1, -0.1];
    end
    methods
        % Define functions, including definitions of f, g, C, and D.      
        function xdot = flowMap(this, x, ~, ~)
            y = x(1:2);
            q = x(3);
            A1 = this.A1;
            A2 = this.A2;
            if q == 1
                ydot = A1*y;
            elseif q == 2
                ydot = A2*y;
            end
            xdot = [ydot; 0];
        end
        function xplus = jumpMap(this, x)
            q = x(3);
            qplus = 3-q;
            xplus = [x(1:2); qplus];
        end
        function inC = flowSetIndicator(~, x)
            q = x(3);
            inC = (q==1 && x(1)>=0) || (q==2 && x(1)<0);
        end
        function inD = jumpSetIndicator(~, x)
            q = x(3);
            inD = (q==1 && x(1)<0) || (q==2 && x(1)>=0);
        end
    end
end