/span>
0031 <span class="comment">%</span>
0032 <span class="comment">% Authors : Antoine Muller, Charles Pontonnier, Pierre Puchaud and</span>
0033 <span class="comment">% Georges Dumont</span>
0034 <span class="comment">%________________________________________________________</span>
0035 
0036 <span class="keyword">if</span> nargin&lt;12
0037 <span class="comment">%     p_ClosedLoop={};</span>
0038 <span class="comment">%     R_ClosedLoop={};</span>
0039     c={};
0040     ceq={};
0041 <span class="keywo