.5*oo(2) o3(2)-1.5*oo(2)],...
    [o3(3)+0.04 o3(3)+0.04 o3(3)-0.04 o3(3)-0.04 o3(3)+0.04], 'k');
  
  
  text(-0.5-1.5*oo(1), 2-1.5*oo(2), 2.2,'Disc torque    max \pm 10 Nm','Color','b');
  text(-0.5-1.5*oo(1), 2-1.5*oo(2), 1.8,'Wheel torque max \pm 50 Nm','Color','r');
  text(-0.5-1.5*oo(1), 2-1.5*oo(2), 1.4,'Instantaneous Cost','Color','k');
  
  
  if nargin > 4
    text(2,1,1.8,text1);
    text(2,1,1.4,text2);
  end
  
  
  drawnow
%   pause(plant.dt/2);
end


##### SOURCE END #####
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