StopRequest
0020 StopRequest=0;
0021 
0022 rob = Sys.min_rob;
0023 
0024 <span class="comment">%% Time</span>
0025 sys = Sys.sys;
0026 ts=Sys.ts; <span class="comment">% sampling time</span>
0027 L=Sys.L;  <span class="comment">% horizon (# of steps)</span>
0028 time = Sys.time; <span class="comment">% time for the date</span>
0029 time_d = (0:2*L-1)*ts; <span class="comment">% discretized time for the controller</span>
0030 
0031 <span class="comment">%% System dimensions and variables</span>
0032 Sys.sysd