t">%  previously computed inputs</span>
0190             Xn(:,1:i_transient) = Sys.system_data.X(:, 1:i_transient);
0191             pn(i_transient) = rob;
0192         <span class="keyword">else</span>
0193             pn(1:L) = rob*ones(1,L);
0194             donen(1:L-1) = 1;
0195             Un(:,1:L-1) = Sys.system_data.U(:,end-L+2:end);     <span class="comment">%    previously computed inputs</span>
0196             Xn(:,1:L) =   Sys.system_data.X(:,end-L+1:end);     <span class="comment">%    previo