\begin{figure}%[h!]
\centering
\scriptsize{
\hspace{-0.0cm}
%\fbox{
\trimbox{0.2cm 0.4cm 0.0cm 0.2cm}{ 
\begin{tikzpicture}
\begin{axis}[
    %no markers,
    title style={yshift=-2ex},
    %title={\emph{initial values:} $h_i=50$, $\dot{h}_{\textup{own}}=-5$, $\dot{h}_{\textup{int}}=-5$, $\tau=4$},
    title={\emph{initial values:} $\dot{h}_{\textup{own}}=-5$, $\dot{h}_{\textup{int}}=-5$, $t=4$},
    ylabel={Altitude ($h$)},
    y label style={at={(axis description cs:0.075,.5)},anchor=south},
    xlabel={$k$},
    xmin=0, xmax=4.0,
    xtick={4,3,2,1,0},
    ymin=-30, ymax=270,
    ytick={-30,0,25,50,75,100,125,150,175,200,225,250},
    ymajorgrids=true,
    grid style=dashed,
    height=4.75cm,
    width=0.5\textwidth,
    legend entries={
                {\emph{equilibria}},
                {\emph{zero-sum}}
                },
    legend style={at={(0.02,0.96)},
                anchor=north west, 
                nodes={scale=0.9, transform shape}}            
]
\addlegendimage{mark=square*,gray,mark size=1.5pt}
\addlegendimage{mark=*,gray,mark size=1.5pt}
]

\draw [dashed, draw=purple] 
        (axis cs: 0,100) -- (axis cs: 4,100)
        node[pos=0.9, above right] {\tiny \emph{safety}};

\addplot[mark=square*,red,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_eq, col sep=comma]{csv/vcas_pos_90.txt};
\addplot[mark=*,red,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_zs, col sep=comma]{csv/vcas_pos_90.txt};

\addplot[mark=square*,green,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_eq, col sep=comma]{csv/vcas_pos_50.txt};
\addplot[mark=*,green,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_zs, col sep=comma]{csv/vcas_pos_50.txt};

\addplot[mark=square*,blue,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_eq, col sep=comma]{csv/vcas_pos_10.txt};
\addplot[mark=*,blue,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_zs, col sep=comma]{csv/vcas_pos_10.txt};

\addplot[mark=square*,orange,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_eq, col sep=comma]{csv/vcas_pos_-30.txt};
\addplot[mark=*,orange,opacity=0.5,mark size=1.5pt] table [x=tau, y=pos_zs, col sep=comma]{csv/vcas_pos_-30.txt};

\end{axis}
\end{tikzpicture}
%}
}
}
\caption{Altitude ($h$) for the VCAS[2] example.}
\label{fig:vcas_pos}
\end{figure}