classdef SwitchBetweenStableFlower < 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.
        epsilon = 0.1;
        omega = 1;
        alpha = 5;
    end
    methods
        % Define functions, including definitions of f, g, C, and D.      
        function xdot = flowMap(this, x, ~, ~)
            y = x(1:2);
            q = x(3);
            epsilon = this.epsilon;
            alpha = this.alpha;
            omega = this.omega;
            A1 = [-epsilon, omega; -alpha*omega, -epsilon];
            A3 = A1;
            A2 = [-epsilon, alpha*omega; -omega, -epsilon];
            A4 = A2;
            if q == 0 || q == 2
                ydot = A1*y;
            elseif q == 1 || q == 3
                ydot = A2*y;
            end
            xdot = [ydot; 0];
        end
        function xplus = jumpMap(this, x)
            q = x(3);
            qplus = mod(q+1,4);
            xplus = [x(1:2); qplus];
        end
        function inC = flowSetIndicator(~, x)
            q = x(3);
            inC = ((q==0 || q==2) && (abs(x(2))>=abs(x(1)))) || ((q==1 || q ==3) && (abs(x(2))<=abs(x(1))));
        end
        function inD = jumpSetIndicator(~, x)
            q = x(3);
            inD = ((q==0 || q==2) && (abs(x(2))<=abs(x(1)))) || ((q==1 || q ==3) && (abs(x(2))>=abs(x(1))));
        end
    end
end