g the system's</span>
0010 <span class="comment">%                   optimization problem</span>
0011 <span class="comment">%</span>
0012 <span class="comment">% Output:</span>
0013 <span class="comment">%       Sys: modified with additional system_data</span>
0014 <span class="comment">%       params: controller data</span>
0015 <span class="comment">%</span>
0016 <span class="comment">% :copyright: TBD</span>
0017 <span class="comment">% :license: TBD</span>
0018 
0019 <span class="keyword">global</span> 