in control problems, the number of inputs of the
          system). Currently, IPAR(2) is fixed or determined by
          IPAR(1) for all examples and thus is not referenced on
          input.
          On output, IPAR(2) is the number of columns of the
          matrix B from (I).
          NOTE that currently IPAR(2) is overwritten and that
          rank(G) &lt;= IPAR(2).

          On input, IPAR(3) is the number of rows in the matrix C
          in (II) (in control problems, the number of outputs of 