function AlgParams = getAlgParams(path_tracking_alg, VehicleParams)
    switch (path_tracking_alg)
        case "Pure Pursuit"
            AlgParams.k = 0.5;
            AlgParams.min_preview_dist = 3;
            AlgParams.max_preview_dist = 25;

        case "Stanley"
            AlgParams.k = 1; 
            AlgParams.preview_dist = 4;
            AlgParams.min_preview_dist = 3;
            AlgParams.max_preview_dist = 25;
    
        case {'Kinematics MPC V W','Kinematics MPC V Delta' }
            solver = "quadprog";
            N = 50;
            Nx = 3;
            Nu = 2;
            q1=1;q2=1;q3=0.5;
            r1=0.1;r2=0.1;rd=0;
            AlgParams.N=10;
            AlgParams.Nx=Nx;
            AlgParams.Nu=Nu;
            AlgParams.N=N;
            AlgParams.Q=diag([q1 q2 q3]);
            AlgParams.R=diag([r1 r2]);
            AlgParams.Rd=diag(rd);
            AlgParams.Qbar=diag(diag(repmat(AlgParams.Q,N,N)));
            AlgParams.Rbar=diag(diag(repmat(AlgParams.R,N,N)));
            AlgParams.Rdbar=diag(diag(repmat(AlgParams.Rd,N,N)));
            AlgParams.solver = solver;
        case "Dynamics MPC"
            solver = "quadprog";
            cf = VehicleParams.Cf; 
            cr = VehicleParams.Cr;
            mass = VehicleParams.mass;
            lf = VehicleParams.wheel_base_front;
            lr = VehicleParams.wheel_base_rear;
            iz = VehicleParams.Izz; 

            N = 50;
            Nx = 4;
            Nu = 1;
            q1=0.05;q2=0;q3=1;q4=0;
            r=1;rd=0;

            I=eye(Nx,Nx);
            matrix_a=zeros(Nx,Nx);
            matrix_a(1,2) = 1.0;
            matrix_a(2,2) = -2*(cf + cr) / mass;
            matrix_a(2,3) = 2*(cf + cr ) / mass;
            matrix_a(2,4) = 2*(lr * cr - lf * cf) / mass;
            matrix_a(3,4) = 1.0;
            matrix_a(4,2) = 2*(lr * cr - lf * cf) / iz;
            matrix_a(4,3) = 2*(lf * cf - lr * cr) / iz;
            matrix_a(4,4) = -2 * (lf * lf * cf + lr * lr * cr)/iz;
            matrix_b=zeros(Nx, Nu);
            matrix_b(2,1) = 2*cf/mass;
            matrix_b(4,1) = 2*lf * cf /iz;
            matrix_c=zeros(Nu,1);
            matrix_c(2,1)=2*(cr*lr-cf*lf)/mass;
            matrix_c(4,1)=-2*(cf*lf*lf+cr*lr*lr)/iz;

            matrix_A=zeros(Nx,Nx);
            matrix_A(1,2)=1;matrix_A(3,4)=1;
            matrix_A(2,2)=matrix_a(2,2);
            matrix_A(2,4)=matrix_a(4,2);
            matrix_A(4,2)=matrix_a(4,2);
            matrix_A(4,4)=matrix_a(4,4);
            Matrix_B=zeros(Nx,Nu);
            Matrix_B(2,1)=matrix_b(2,1);
            Matrix_B(4,1)=matrix_b(4,1);

            AlgParams.Nx=Nx;
            AlgParams.Nu=Nu;
            AlgParams.Q=diag([q1,q2,q3,q4]);
            AlgParams.R=diag(r);
            AlgParams.Rd=diag(rd);
            AlgParams.N=N;
            AlgParams.Ac=matrix_a;
            AlgParams.Bc=matrix_b;
            AlgParams.Cc=matrix_c;
            AlgParams.matrix_A=matrix_A;
            AlgParams.matrix_B=Matrix_B;
            AlgParams.I=I;
            AlgParams.lr=lr;
            AlgParams.lf=lf;
            AlgParams.cf=cf;
            AlgParams.cr=cr;
            AlgParams.iz=iz;
            AlgParams.mass=mass;
            AlgParams.solver=solver;
    end
        AlgParams.ts = 0.05; % Control time period
end