# input_constr_ok: a valid set of numeric values
# input constraints
u_lb = [-100]
u_ub = [100]
# weighting matrices
Q = [1, 0; 0, 1]
R = [1]
P = [2, 1; 1, 4]  # matlab style
# system matrices
A = [1.,  0.0095162581964040437; 0.,  0.90483741803595941]
B = [9.6748360719191485e-05; 0.019032516392808087]
# dimensions
N = 5
n = 2
m = 1