LibHybrid for System Identification Toolbox

# libhybrid - A library for discretized Hybrid Dynamical Systems
This library implements an hybrid system in the form:
Flow map:
t'(k) = 1
j'(k) = 0
x'(t, j) = f(t, j, x(t, j), u(t, j) ,p)
for (t, j, x, u) in C
Jump map:
t(k + 1) = t(k)
j(k + 1) = j(k)
x(t, j + 1) = g(t, j, x(t, j), u(t, j), p)
for (t, j, x, u) in D

where:

* f is the flow map;
* g is the jump map;
* h is the output map;
* C is the flow set;
* D is the jump set.
* p are parameters.
* k is an engine time for the integration of t and j.

The flow map is discretized with a Runge Kutta 4 step. For the evolution of the system, both t and j are limited by horizons.