r; <span class="comment">% apply controller to system</span>
  disp([<span class="string">'controlled trial # '</span> num2str(j)]);
  <span class="keyword">if</span> plotting.verbosity &gt; 0;      <span class="comment">% visualization of trajectory</span>
    <span class="keyword">if</span> ~ishandle(1); figure(1); <span class="keyword">else</span> set(0,<span class="string">'CurrentFigure'</span>,1); <span class="keyword">end</span>; clf(1);
    draw_rollout_pendubot;
  <span class="keyword">end</span>
<