s="string">'y [m]'</span>;
  grid <span class="string">on</span>

  <span class="comment">% draw controls:</span>
  ut  = q(i,end-1);
  uw  = q(i,end);
  L = cost.fcn(cost,q(i,plant.dyno)',zeros(length(plant.dyno)));

  utM = 10;
  uwM = 50;

  oo = [4 -3.07 0]/6.4; o1 = [-0.5 2 2.0]; o2 = [-0.5 2 1.6]; o3 = [-0.5 2 1.2];
  o0 = 1.5*ut/utM;
  plot3([o1(1) o1(1)+o0*oo(1)],[o1(2) o1(2)+o0*oo(2)],[o1(3) o1(3)+o0*oo(3)],<span class="string">'b'</span>,<span class="string">'LineWidth'</span>,5)
  plot3([o1(1)-1.