- Reduced computational complexity

- Presolve works for the nonconvex models
- Errors are small, occur due to nonconvexity (maybe local minima, or difference in solution approach)
- Normal solve is faster

- Remove files with _FH in names
- Remove terminal sets stuff

Check MC with yalmip clear

_ small error in defining tracking stuff

- Expl now has a correct x_s
- cont has estimate of u_s

- better trade off PAMPC, DAMPC
- Show tracking in PAMPC