STL formula</span>
0024 
0025 QuadSys = <a href="getSpecs.html" class="code" title="function [inits] = getSpecs( inits, dim, ex)">getSpecs</a>(QuadSys,3,3);
0026 
0027 QuadSys.rob = 0.01;    
0028 QuadSys.bigM = 1000;
0029 
0030 <span class="comment">%% Initial state</span>
0031 QuadSys.x0 = [2; 2; 0.0; zeros(7,1)];
0032 
0033 <span class="keyword">return</span>;
0034 <span class="comment">%% running stuff</span>
0035 fprintf(<span class="string">'Computing controller...'</span>);
0036 controller = get_cont