u = sdpvar(repmat(nu,1,N),repmat(1,1,N));
x = sdpvar(repmat(nx,1,N+1),repmat(1,1,N+1));
d = binvar(repmat(2,1,N),repmat(1,1,N));

constraints = [];
objective   = 0;
for k = 1:N
 objective = objective + norm(Q*x{k},1) + norm(R*u{k},1);

 Model1 = [x{k+1} == A*x{k} + B1*u{k}, x{k}(1) >= 0]; 
 Model2 = [x{k+1} == A*x{k} + B2*u{k}, x{k}(1) <= 0]; 

 constraints = [constraints, implies(d{k}(1), Model1), implies(d{k}(2), Model2)];

 constraints = [constraints, sum(d{k}) >= 1, -1 <= u{k}<= 1, -5<=x{k}<=5];
end

constraints = [constraints, -5<=x{k+1}<=5];
controller = optimizer(constraints, objective,sdpsettings('verbose',1),x{1},u{1});