A = [9.9007e-001 9.9340e-003 -9.4523e-003 9.4523e-003; 9.9340e-002 9.0066e-001 9.4523e-002 -9.4523e-002; 9.9502e-002 4.9793e-004 9.9952e-001 4.8172e-004; 4.9793e-003 9.5021e-002 4.8172e-003 9.9518e-001];
B = [9.9502e-002; 4.9793e-003; 4.9834e-003; 1.6617e-004];
d = [0; 0; 1; -1];
U = 2;
alpha = 161;
N = 100;
