Clément COTE

In the third implementation (the numerically robust one), `R_L` matrix is defined with a size of `{(MPC_HP_LEN*SS_Z_LEN + MPC_HU_LEN*SS_U_LEN), MPC_HP_LEN*SS_Z_LEN}`. But `R_L` is multiplied with `dU(k)_optimal` during the problem formulation....