A = [  0         0    1.0000   -0.0000         0         0         0         0;
    0         0    0.0000    0.9809         0         0         0         0;
    0         0         0         0         0         0         0         0;
    0         0         0   -0.4304    4.5529  -16.3790    9.2743         0;
    0         0         0   -2.1642   -7.8696    3.5175         0         0;
    0         0         0    2.2918   -0.2315   -4.7063         0         0;
    0         0         0         0    1.0000    0.2675   -0.0000         0;
    0         0         0         0         0    1.0167    0.0000         0];

B = [   0         0;
    0         0;
    0         0;
    0   -1.2692;
    30.0756   36.7634;
    12.0136   -2.7930;
    0         0;
    0         0];
timeVec = [0 4];
x_0_lat = [0 0 16 0 -0.0298 0.1073 0.1957 0]';
u_lat_cent = [0.0316, -0.0425]';


Ku = [pi/4+u_lat_cent(1),pi/4+u_lat_cent(2);...
    pi/4-u_lat_cent(1), pi/4-u_lat_cent(2)];
centVec = -diff(Ku)/2;
shMat = diag((Ku(1,:)-centVec).^2,0);
uBoundsEllObj = ellipsoid(centVec', shMat);

 dirsMat=[eye(8,8)];
 
 lsys_A = elltool.linsys.LinSysContinuous(A, B, uBoundsEllObj);
 x0EllObj = [x_0_lat] + ellipsoid(diag([0.01,0.01, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]));
 
 rsObj_A = elltool.reach.ReachContinuous(lsys_A, x0EllObj, dirsMat, timeVec,...
        'isRegEnabled', true, 'isJustCheck', false, 'regTol', 1e-7);