function [m_1,m_2,m_3,m_4,new_u_1,new_u_2,new_u_3,new_u_4] = F_coll(z_1,z_2,z_3,z_4,u_1,u_2,u_3,u_4, alpha , r) % Compute internal updates [x_1,x_2,x_3,x_4] = P_coll ...