You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: Solver.m
    path of file: ./repos/lc_toolbox/Modules/Control/Solvers
    
    the code of the file until where you have to start completion: % This file is part of LCToolbox.
% (c) Copyright 2018 - MECO Research Team, KU Leuven. 
%
% LCToolbox is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published 
% by the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
% 
% LCToolbox is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Lesser General Public License
% along with LCToolbox. If not, see <http://www.gnu.org/licenses/>.

classdef Solver
    % Solver defines the blueprint for solver interfaces. These are objects
    % that contain all information about the control problem and
    % furthermore have methods available that parse them into an
    % appropriate format for the solver they interface.
    
    properties
        K;                  % the controller @type AnalyticModel
        H;                  % closed loop system with the obtained controller K @type SystemOfModels
        performance;        % set of all objectives and constraints of type Specification @type cell
        
        gamma = [];         % optimal @f$\mathcal{H}_\infty@f$ norms achieved by the solver @type double
        mu = [];            % optimal @f$\mathcal{H}_2@f$ norms achieved by the solver @type double
        solved = false;     % indicates whether the problem was succesfully solved or not @type logical
        
        options;            % options that are passed to the solver @type struct
        info;          
    
function [GP,Wout,Win,ch] = plant(config,specs,vars,opts)
            % Constructs the generalized plant based on the control 
            % configuration the user specified and on the specifications.
            % 
            % Parameters:
            %  config : the control configuration @type SystemOfSystems 
            %  specs : specifications of the control problem @type ControllerDesign
            %  vars : list containing the variables (controllers that are sought for, SystemOfModels) @type cell
            %  minimal : if true, multiple occurences of identical exogenous inputs or performance outputs are avoided in the generalized plant @type logical
            %
            % Return values: 
            %  GP : returns the generalized plant including all exogenous inputs and regulated outputs. @type SystemOfModels
            %  wspecs : adapted specifications, such that the input signal of every channel becomes the input signal of the corresponding input weight and the output signal of every signal becomes the output of its corresponding output weight @type ControllerDesign
                        
            % 1. Make the openloop -> remove the variables
            [~,r] = cellfun(@empty,vars,'un',0);

            % 2. Make systems of the weights
            norms = specs.performance;
            cellfun(@disp,norms);

            % check which weighted inputs are equal
            [Win,connections_in,norms] = Norm.tofilter(norms,'in');
            [Wout,connections_out,norms] = Norm.tofilter(norms,'out');
            
            % make channel structures
            cellfun(@disp,norms);
            ch = Solver.channels(norms,Wout,Win);
            
            % 3. Throw it all together
            GP = config([vertcat(connections_out{:,2});specs.ctrl_out],[vertcat(connections_in{:,2});specs.ctrl_in]);
            GP = GP.content(1);
            
            % put filter splitting and multiplication here
%             try
%                 [Wins,Winus] = stabsep(std(Win.content(1)));
%                 if ~isempty(Winus.a) % unstable modes in input filter
%                     Winus = [Winus;ss(eye(size(Win,2)))];
%                     Wins = [ss(eye(size(Win,1))),Wins];
%                 else
%                     Wins = std(Win.content(1));
%                     Winus = ss(eye(size(Wins,2)));
%                 end