% generating of control actions 

function pol=mcontin1(mp,m,Ulower,Uupper)

ul=Ulower;                 % lower bound of u
uu=Uupper;                 % upper bound of u
ur=(uu-ul)/m;

%pol=ul*mp(1)+uu*mp(m);
pol=0;
for i=1:m
pol=pol+mp(i)*(ul+ur/2+(i-1)*ur);
end