% parameters which may be defaulted: u, order, dbg, expFactorif exist('u')~=1,		u = 1/pi;		endif exist('order')~=1,		order = 2;		endif exist('dbg')~=1,		dbg = 1;		endif exist('expFactor')~=1	expFactor=0.01;		endif exist('nlev')~=1,		nlev = 2;		endif exist('qhullArgA')~=1,	qhullArgA=0.999;	endif exist('qhullArgC')~=1,	qhullArgC=.001;		endfigure(1);if order==2    mod = mod2;    ABCD = mod.ABCD;    t = cputime;    [s e n o] = findPIS(u,ABCD,nlev, ...	[dbg NaN expFactor NaN NaN qhullArgA qhullArgC]);    t = cputime - telse     H = synthesizeNTF(order);    [a,g,b,c] = realizeNTF(H);    ABCD = stuffABCD(a,g,b,c);    t = cputime;    [s e n o] = findPIS(u,ABCD,nlev, ...	[dbg NaN expFactor NaN NaN qhullArgA qhullArgC]);    t = cputime - tendfigure(2);clf;if isempty(n)    fprintf('No positively invariant set found.\n');else    N=10000; skip=100;    if length(u)==1    	uu = u(ones(1,N+skip));    else    	uu = uvar(u,N+skip);    end    [junk x] = simulateDSM(uu,ABCD,nlev);    x = x(:,1+skip:N+skip);    ns = dsmap(u,ABCD,nlev,s,e);            out = outsideConvex(ns,n,o);             dsisPlot(1,0,order,x,s,e,ns,out);    if(order==3)    	subplot(222);    	view(20,20);    end;    fprintf('%d points from the %d simulated states are outside.\n', sum(outsideConvex(x,n,o)),N);             fprintf('%d image points are outside.\n', sum(out));             fprintf('The returned object has %d vertices, %d edges and %d faces.\n', ...      size(s,2),size(e,2),size(n,2));    %fprintf('order=%d, u=%f, expFactor=%f\n', order, u, expFactor );end