8     <span class="keyword">end</span>
0149 <span class="keyword">end</span>
0150 
0151     <a name="_sub1" href="#_subfunctions" class="code">function compute_input()</a>
0152         [sol_control, errorflag1] = controller{{donen,pn,Xn,Un,Wn}};
0153         <span class="keyword">if</span>(errorflag1==0)  <span class="comment">% found a good control</span>
0154             <span class="comment">%disp(['Yalmip: ' yalmiperror(errorflag1)])</span>
0155             Upred = sol_control{1};
0156             Xpred