 <span class="comment">% Output:</span>
0009 <span class="comment">%       adversary: a YALMIP optimizer object that solves the STL-constrained</span>
0010 <span class="comment">%                  optimal control problem for the adversarial environment</span>
0011 <span class="comment">%                  in which Sys operates</span>
0012 <span class="comment">%</span>
0013 <span class="comment">% :copyright: TBD</span>
0014 <span class="comment">% :license: TBD</span>
0015 
0016 <span class="comment">%% Tim