# input constraints
u_lb = [-100; 0]  # rows do not match m
u_ub = [100]
# weighting matrices
Q = [1, 0; 0, 1] 
R = [1]  
P = [2, 3; 3, 4]  # matlab style
A = [1.,  0.0095162581964040437; 0.,  0.90483741803595941] 
B = [9.6748360719191485e-05; 0.019032516392808087]
N = 2
mu = 256.
e_lb = [-1]
e_ub = [1]
f_lb = [-0.5]
f_ub = [0.5]
Kx = [3.5, 5.5]
F = [0.2, 1.1]
n = 2
m = 1