1);
0033 p = sdpvar(1,L);
0034 Xdone = sdpvar(nx, 2*L);
0035 U = sdpvar(nu,2*L-1); 
0036 
0037 Wref = sdpvar(nw, 2*L);
0038 
0039 <span class="comment">%% STL formula</span>
0040 Fstl=[]; 
0041 varStd = struct(<span class="string">'X'</span>,X,<span class="string">'Y'</span>,Y,<span class="string">'U'</span>,U, <span class="string">'W'</span>, W);
0042 
0043 <span class="keyword">if</span> isstruct(Sys.var)
0044     <span class="comment">%remove overlapping fields from std</span>
0045     var = rmfield(varS