Fixed bug in nmpc_fullstate formulation.
Fixed bug in nmpc_fullstate formulation.

 - now is exactly as quadprog objective function (did not have 0.5z'Qz)
 - added start value to objective
 - fixed a comment saying that the model handle was for a continous model (is discrete)

ovidiualexandru/MPCToolbox,wuyou33/MPCToolbox