s.system_data.U = [];
0094 Sys.system_data.X = x0;
0095 Sys.system_data.Y = [];
0096 Sys.system_data.W = [];
0097 
0098 Sys.model_data.time = time_d;
0099 Sys.model_data.X = repmat(0*time_d(1:end), [nx 1]);
0100 Sys.model_data.Y = repmat(0*time_d(1:end-1), [ny 1]);
0101 Sys.model_data.U = repmat(0*time_d(1:end-1), [nu 1]);
0102 Sys.model_data.W = Wn;
0103 
0104 <a href="#_sub1" class="code" title="subfunction compute_input()">compute_input</a>();
0105         
0106 time_new = 0;
0107 u_new = Upred(:,i_trans