</pre> Add input constraints <pre class="programlisting"> ctrl.model.u.min = -1; </pre>
<pre class="programlisting"></pre>
<pre class="programlisting"> ctrl.model.u.max = 1; </pre>
<pre class="programlisting"></pre> Set quadratic state penalty <pre class="programlisting"> ctrl.model.x.penalty = QuadFunction(eye(2)); </pre>
<pre class="programlisting"></pre> Set quadratic input penalty <pre class="programlisting"> ctrl.model.u.penalty = QuadFunction(1); </pre>
<pre class="programlisting"></pre> Obtain the op