pan>
0090         Fdyn = [Fdyn, ((Ad*X(:,k-1) + Bdu*U(:,k-1) + Bdw*W( :, k-1 )) - done(k-1)*M) &lt;=  X(:,k) &lt;= ((Ad*X(:,k-1) + Bdu*U(:,k-1) + Bdw*W( :, k-1 )) + done(k-1)*M)];
0091     <span class="keyword">end</span>
0092 <span class="keyword">end</span>
0093 
0094 <span class="comment">% Constraints for outputs</span>
0095 <span class="keyword">for</span> k=1:2*L-1
0096         Fdyn = [Fdyn, Y(:,k) == Cd*X(:,k)+ Ddu*U(:,k) + Ddw * W(:,k)];
0097 <span class="keyword">end</span>
0098 
0099 <span class="