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