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function [fk, Fk] = nonlinear_ok_box_f(k, xk)
global nonlinear_ok_box_x4_min
global nonlinear_ok_box_x4_max
%
% constrained so that x4_min <= x4(t) <= x4_max
x4_min = nonlinear_ok_box_x4_min;
x4_max = nonlinear_ok_box_x4_max;
ell = 2;
n = size(xk, 1);
%
fk = [ ...
xk(4) - x4_max;
x4_min - xk(4) ...
];
Fk = zeros(ell, n);
Fk(1, 4) = 1;
Fk(2, 4) = -1;
return
end