 class="comment">% Initialize discrete data for the controller and environment</span>
0064 
0065 donen = zeros(1,2*L-1); <span class="comment">% done(1:k) = 1 iff everything has been computed up to step k</span>
0066 pn = -1*M*ones(1,L);    <span class="comment">% for activating robustness constraints</span>
0067 Un = zeros(nu,2*L-1);
0068 Xn = zeros(max(nx,1),2*L);
0069 <span class="keyword">if</span> (nx&gt;0)
0070     Xn(:,1) = x0;           <span class="comment">% only X0 is already computed</span>
0071