comment">%% Objective function</span>
0100 obj = min(Pphi(1:end-1,1));
0101 
0102 options = Sys.solver_options;
0103 adv_params= {done, p, Xdone, U, Wref};
0104 adv_output= {W, X, Pphi};
0105 adversary = optimizer([Fdyn Fw Fstl],obj,options,adv_params, adv_output );</pre></div>
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