#Parameters: exampleNo, xLeft, lengthX, mu, sigma, stateDim, || controlDim, controlLb, controlUb, || lambda, alpha, trackStateOverTime, trackControlOverTime, || horizon, mpcSteps, mpcStepsize, mpcStepsToImplement, || compareGradients, computeGradientNumerically, optimizerHu, useDxpInGradient, optMethod, useLinesearch, lesOptSolver, optimizerMaxSteps, optimizerTol, uInitFromFile, || odeMethod, dt, lesOdeSolver, || iterativeLESMaxSteps, iterativeLESTol
1
-5
10
1
0.8
399
1
-10
10
0.1
1
0
0
1
100
0.05
1
0
0
1e-06
0
2
0
1
4000
1e-05
0
1
0.0008
1
1000
1e-12
