' - derivative of the variance of the predicted control 
%                wrt the mean of the input distribution
%        (v)    'dSds' - derivative of the variance of the predicted control 
%                wrt the variance of the input distribution
%        (vi)   'dSdp' - derivative of the variance of the predicted control 
%                 wrt the controller parameters
%        (vii)  'dCdm' - derivative of inv(s)*(covariance of the input and the 
%                predicted control) wrt the mean of the