const Eigen::VectorXd error_alpha_3         = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
                                            << 0.850000, 0.850000, 0.850000,
                                               0.850000, 0.850000, 0.850000).finished();
const Eigen::VectorXd bias_threshold_3      = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
                                            << 0.000457, 0.000407, 0.000407,
                                               0.001007, 0.001007, 0.001007).finished();
const Eigen::VectorXd bias_step_3           = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
                                            << 0.000550, 0.000550, 0.000550,
                                               0.003495, 0.003495, 0.003495).finished();
const Eigen::VectorXd gain_threshold_3      = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
                                            << 0.502492, 0.502492, 0.502492,
                                               0.252492, 0.252492, 0.252492).finished();
const Eigen::VectorXd gain_step_3           = (Eigen::VectorXd(NUMBER_OF_CONSTRAINTS) \
                                            << 0.003152, 0.003552, 0.003552,
                                               0.015152, 0.015152, 0.015152).finished();