 <span class="keyword">end</span>
0072 pn(1) = rob;
0073 
0074 Upred = zeros(nu,2*L-1);
0075 Xpred = zeros(nx,2*L);
0076 
0077 u_new = [];
0078 w_new = [];
0079 x_new = [];
0080 y_new = [];
0081 time_new = 0;
0082 params = {};
0083 
0084 <span class="comment">% call solver for the first horizon</span>
0085 i_transient=1;
0086 i_past = 1;
0087 
0088 <span class="comment">%% Init system and model data</span>
0089 Sys.system_data=struct;
0090 Sys.model_data=struct;
0091 
0092 Sys.system_data.time = [];
0093 Sy