https://github.com/transys-project/pitree/blob/91c876f0a09fc1a20de7fbb8222aa893fd1ba5d6/robustmpc.py#L137
https://github.com/transys-project/pitree/blob/91c876f0a09fc1a20de7fbb8222aa893fd1ba5d6/robustmpc.py#L137