    <a href="#_sub1" class="code" title="subfunction compute_input()">compute_input</a>();
0129     
0130     <span class="comment">%% update state</span>
0131     u_new = Upred(:,i_transient);
0132     w_new = Wn(:,i_transient);
0133     [x_new, y_new] = <a href="../examples/quadrotor/system_step.html" class="code" title="function x1 = system_step(sysd, x0, u0, w0)">system_step</a>(Sys, x0, u_new, w_new);
0134     i_past =  i_past+1;
0135     params{end+1} = {i_transient,time_d,donen,pn,Xn,Un,Wn};
0136 
01