if nargin<9
    R = zeros(n_u,1);
  endif

  ## Default P (terminal weight)
  if nargin<10
    P = zeros(n_x,n_x);
    P_weighting = 0
    P_weighting = 0;
  else
    P_weighting = 1
    P_weighting = 1;
  endif

  ## Default condittion number
  if nargin<11
    max_cond = 1e20;
  endif