 [];
0065 <span class="keyword">for</span> iw = 1:nw
0066         Fw = [Fw, Wref(iw,:) + Sys.w_lb(iw)  &lt;= W(iw,:) &lt;= Wref(iw,:)+Sys.w_ub(iw)];
0067 <span class="keyword">end</span>
0068 
0069 
0070 <span class="comment">%% Dynamics constraints</span>
0071 Fdyn = [];
0072 
0073 [Ad,Bd,Cd,Dd]=ssdata(Sys.sysd);
0074 
0075 Bdu=Bd(:,1:nu);
0076 Bdw=Bd(:,nu+1:end);
0077 Ddu=Dd(:,1:nu);
0078 Ddw=Dd(:,nu+1:end);
0079 
0080 <span class="comment">% Constraints for states</span>
0081 <span class="keyword">for</s