he</span>
             predicted <span class="string">control) wrt the variance of the input distribution</span>
     (ix)   <span class="string">'dCdp'</span> - derivative of <span class="string">inv(s)*(covariance of the input and the</span>
             predicted <span class="string">control) wrt the controller parameters</span>
policy   <span class="string">policy</span> <span class="string">structure</span>
  .fcn   <span class="keyword">function</span> handle to <span class="string">policy</span>
  .&