function [xprime] = snowplow(t,x)

A = [0  1
     0 -1];
B = [0 1]';

% Exact tracking control
%u = 2*t + 2;
% Asymptotic control
u = 2*t^2+6*t+2 + 2 - 2*x(1) - 2 * x(2);

xprime=A*x+B*u;