N=100; % number of time samples given
n=3;   % dimension of state
m=2;   % dimension of input
% X is matrix whose t-th column is x(t)
% U is matrix whose t-th column is u(t)
X=[  4.3600000e-001  3.4700000e-001  2.0000000e-002 -1.8720000e+000  7.2600000e-001  5.2800000e-001  8.6900000e-001 -4.0390000e+000 -5.1300000e-001 -1.0100000e-001  2.7900000e-001 -3.3520000e+000 -1.7520000e+000  8.8200000e-001 -2.9040000e+000 -7.0000000e-001  2.7300000e-001 -3.8010000e+000 -4.7090000e+000  2.3700000e-001  6.0500000e-001 -1.3250000e+000 -3.7490000e+000 -3.0430000e+000 -1.0200000e-001  3.6750000e+000 -3.2200000e-001 -2.0440000e+000 -1.7030000e+000  1.5280000e+000  2.8660000e+000  1.6230000e+000 -1.5160000e+000 -1.2880000e+000  1.9700000e+000  2.9670000e+000 -2.1180000e+000 -4.1500000e-001 -2.0540000e+000 -4.8500000e-001 -1.0270000e+000  1.3000000e-001 -2.4700000e+000 -1.2160000e+000 -2.7880000e+000  1.1750000e+000  2.2390000e+000 -2.2860000e+000 -5.3300000e-001  1.9370000e+000  7.9600000e-001  2.5470000e+000  1.1500000e-001  1.2240000e+000  1.9100000e-001 -9.3000000e-001  7.0200000e-001  1.4900000e-001  2.4000000e-001 -1.9700000e-001  2.7700000e-001  2.2210000e+000  6.6000000e-001  4.0700000e-001 -3.2820000e+000  1.3230000e+000  1.6440000e+000 -2.3110000e+000 -1.2530000e+000 -4.1200000e-001 -1.1750000e+000  1.2020000e+000 -1.6800000e-001 -1.7520000e+000  8.0000000e-002  2.9060000e+000 -1.7560000e+000  1.2900000e-001  1.0840000e+000  2.9100000e-001 -6.4100000e-001  3.8800000e-001 -1.6440000e+000  2.4780000e+000  1.0820000e+000 -1.9040000e+000  1.3070000e+000  4.6100000e-001 -7.3700000e-001  3.1400000e-001  6.6200000e-001 -8.5600000e-001 -8.2300000e-001 -1.7200000e+000  1.6430000e+000 -4.1700000e-001 -1.0380000e+000 -1.2270000e+000 -1.7490000e+000  1.7840000e+000;
  6.9700000e-001  8.9900000e-001 -3.6000000e-001 -2.4360000e+000 -6.8710000e+000  1.2150000e+000  4.4400000e+000  8.3250000e+000 -4.1980000e+000 -5.8240000e+000 -1.1910000e+000  3.9230000e+000 -2.5930000e+000 -3.8330000e+000  2.8250000e+000 -1.1970000e+000  4.0000000e-003  3.9360000e+000  6.5300000e-001 -7.1170000e+000 -2.0930000e+000  6.6420000e+000  8.4380000e+000 -2.8220000e+000 -6.8280000e+000 -3.2200000e+000  7.5210000e+000  9.4760000e+000 -6.2000000e-001 -5.6890000e+000 -2.3920000e+000  3.2000000e+000  5.0360000e+000 -1.0570000e+000 -9.1690000e+000 -1.2800000e-001  5.8920000e+000 -2.3400000e-001 -1.0070000e+000 -5.5740000e+000 -1.8860000e+000 -6.3800000e-001  5.0670000e+000 -2.6000000e-002  5.3100000e-001 -4.5540000e+000  1.8580000e+000  9.4150000e+000  1.6280000e+000 -2.1400000e+000 -1.1590000e+000 -2.0300000e+000  1.4050000e+000 -2.7800000e-001 -1.1120000e+000 -1.4300000e+000 -1.0170000e+000  2.6150000e+000  1.5060000e+000 -1.5340000e+000 -1.8100000e+000 -1.4870000e+000  3.0330000e+000  3.0540000e+000 -6.9500000e-001 -6.3310000e+000 -2.2600000e-001  5.3610000e+000  8.2200000e-001 -3.5560000e+000 -2.7480000e+000 -3.0370000e+000  4.2340000e+000  3.5030000e+000 -1.6950000e+000 -6.9200000e-001  5.2080000e+000 -1.7680000e+000 -1.9580000e+000  1.0690000e+000  1.4440000e+000 -2.4950000e+000 -1.3110000e+000 -3.1170000e+000  1.9690000e+000  3.5100000e+000 -2.3290000e+000  8.7600000e-001  2.6780000e+000 -8.4200000e-001 -1.1270000e+000  2.1400000e+000 -8.7700000e-001 -2.8050000e+000 -5.7700000e+000  1.7450000e+000  4.6780000e+000  1.6350000e+000 -1.8090000e+000 -5.2060000e+000;
  2.4200000e-001 -2.8400000e-001 -1.2440000e+000 -2.9290000e+000  8.4200000e-001  5.4870000e+000  5.3240000e+000 -1.8700000e+000 -4.5020000e+000 -1.5940000e+000  2.7010000e+000  3.4700000e-001 -9.2400000e-001  3.1830000e+000  2.4730000e+000  2.6540000e+000  4.4920000e+000  9.4700000e-001 -2.5370000e+000  1.3460000e+000  6.5700000e+000  6.6830000e+000  3.8200000e-001 -4.8670000e+000 -5.4800000e-001  7.5940000e+000  6.5690000e+000  3.5400000e-001 -5.8820000e+000 -2.8100000e+000  2.1870000e+000  2.8440000e+000 -2.0490000e+000 -5.4140000e+000 -2.1580000e+000  5.0420000e+000  7.0600000e-001 -1.7330000e+000 -3.2120000e+000 -1.3510000e+000  1.8790000e+000  4.3190000e+000  2.6590000e+000  4.4000000e-001 -9.7500000e-001  2.2020000e+000  6.4970000e+000  1.5220000e+000 -3.2000000e+000 -2.1790000e+000 -1.9140000e+000  3.8600000e-001 -4.6100000e-001 -4.1400000e-001 -1.2730000e+000 -1.6660000e+000  7.8200000e-001  1.0950000e+000 -5.3300000e-001 -2.0760000e+000 -7.0500000e-001  2.2950000e+000  2.0270000e+000 -1.2300000e-001 -5.7640000e+000 -1.3480000e+000  3.2740000e+000  1.1000000e-002 -2.6390000e+000 -2.6370000e+000 -1.0910000e+000  2.9040000e+000  3.9760000e+000 -1.7700000e-001 -9.3400000e-001  2.8510000e+000 -7.9100000e-001 -2.7000000e+000 -7.4300000e-001 -1.2400000e-001 -1.6870000e+000 -1.8700000e+000 -2.1810000e+000  2.4380000e+000  3.4110000e+000 -5.2800000e-001 -2.3000000e-002  8.1400000e-001 -7.8600000e-001 -1.7010000e+000 -8.9400000e-001 -1.4880000e+000 -3.0130000e+000 -3.4590000e+000  1.3220000e+000  3.4710000e+000  1.9920000e+000 -1.2830000e+000 -3.0140000e+000  1.2760000e+000];
U=[  1.2500000e-001  2.8600000e-001 -5.7000000e-001  1.1370000e+000 -5.6900000e-001  2.2360000e+000 -2.1670000e+000  4.8200000e-001 -7.7400000e-001 -1.2270000e+000 -2.2310000e+000  5.9000000e-002  9.3900000e-001 -1.1840000e+000  1.3590000e+000  1.5810000e+000 -1.0320000e+000 -3.1630000e+000  6.5600000e-001  1.4910000e+000  7.2000000e-002 -1.6230000e+000  3.9000000e-002 -1.2340000e+000  2.3860000e+000  1.8710000e+000 -8.3700000e-001  3.1900000e-001 -8.5400000e-001  6.6700000e-001  1.3700000e+000 -5.6500000e-001 -1.3840000e+000  1.8010000e+000 -4.6400000e-001  1.9500000e-001  4.8200000e-001 -1.9830000e+000 -3.2200000e-001 -1.4860000e+000  1.0840000e+000 -1.2220000e+000  1.0490000e+000 -1.9970000e+000  1.5470000e+000  1.4980000e+000 -8.5300000e-001  4.0700000e-001  5.0000000e-002 -2.4000000e-002  1.3290000e+000  2.1700000e-001  7.6100000e-001  8.7900000e-001 -6.9500000e-001 -7.9800000e-001 -7.3600000e-001  5.0700000e-001  7.1000000e-001 -6.0200000e-001  1.3980000e+000  9.0100000e-001  6.4100000e-001 -8.7000000e-001 -1.1420000e+000 -3.7700000e-001 -1.3950000e+000 -1.2300000e+000 -4.3600000e-001 -1.6540000e+000  7.4200000e-001 -4.3800000e-001  4.4600000e-001  7.3700000e-001  1.0990000e+000 -8.8400000e-001  6.2800000e-001 -4.2700000e-001 -8.5500000e-001 -9.8800000e-001  4.0700000e-001 -1.7140000e+000  7.5000000e-001  1.6930000e+000  9.8000000e-002  1.4650000e+000 -1.0900000e-001 -1.0410000e+000  2.1500000e-001 -2.1000000e-001 -2.2420000e+000 -1.0160000e+000 -1.9400000e+000  6.3800000e-001 -5.2500000e-001 -6.6700000e-001  1.1900000e-001 -1.0690000e+000  8.5100000e-001  3.1000000e-002;
  2.9400000e-001 -4.9600000e-001 -2.2380000e+000 -1.3590000e+000  7.8400000e-001  7.1200000e-001  1.4700000e-001  2.6900000e-001 -1.4230000e+000  6.0500000e-001 -4.3800000e-001 -4.5700000e-001 -7.7000000e-002 -1.4470000e+000 -7.3000000e-002 -2.7800000e-001 -1.5550000e+000  2.7300000e-001  1.7400000e-001 -1.2850000e+000  7.7600000e-001  1.4900000e+000 -1.4300000e+000  6.9000000e-002  7.5100000e-001 -1.0010000e+000  2.3090000e+000 -6.5000000e-001  8.9700000e-001  3.5000000e-001  3.0000000e-003 -2.0500000e-001  2.5200000e-001 -1.8250000e+000  1.6560000e+000 -1.7440000e+000  5.8600000e-001 -7.6200000e-001 -9.8300000e-001 -4.2900000e-001 -1.3800000e-001  2.5600000e-001 -1.9000000e-001 -3.6100000e-001  2.1400000e-001  1.0390000e+000  4.6800000e-001  1.3140000e+000  1.2820000e+000 -8.9600000e-001  2.6400000e-001 -1.1100000e+000  4.7800000e-001 -1.5210000e+000 -1.0580000e+000  1.3210000e+000  1.0840000e+000  3.7000000e-001 -1.3050000e+000  7.8000000e-002  4.4400000e-001 -2.3900000e-001  6.8400000e-001 -2.9290000e+000  1.6350000e+000  7.8600000e-001 -3.2800000e-001  1.3640000e+000 -6.1100000e-001 -8.0900000e-001  2.5900000e-001  8.8500000e-001 -4.6700000e-001  1.1500000e-001  1.6530000e+000 -9.7700000e-001  2.0700000e-001  4.4400000e-001  4.8500000e-001  3.6400000e-001 -3.9400000e-001 -1.1710000e+000  1.6740000e+000 -8.8600000e-001 -1.1760000e+000  6.4800000e-001 -2.2000000e-002  6.4800000e-001  3.1600000e-001  1.1900000e-001  9.4100000e-001  9.5000000e-002 -8.8400000e-001  7.2000000e-002 -4.7000000e-001  1.4200000e+000  7.2000000e-002 -8.1800000e-001  2.9600000e-001  4.6700000e-001];