assumed that the controller function computes the mean and the variance of the control signal for a Gaussian distributed input <img src="conT_eq96160.png" alt="$x\sim\mathcal N(m,s)$"></p><pre class="language-matlab"><span class="keyword">function</span> [dd dy dh] = conT(deriv, policy, m, s, delta)
</pre><p><b>Input arguments:</b></p><pre class="language-matlab">deriv    <span class="string">desired</span> <span class="string">derivative.</span> <span class="string">options:</span>
     (i)    <span class=