text: from beluga.utils import load
  import matplotlib.pyplot as plt
  
  data = load('indirect_data.beluga')
  sol_set = data['solutions']
  sol_indirect = sol_set[-1][-1]
  
  
  plt.figure()
  plt.plot(sol_indirect.t, sol_indirect.y[:, 0], linestyle='-', color='b', label='indirect')
  plt.xlabel('Time [nd]')
  plt.ylabel('$x_1$ [nd]')
  plt.grid(True)
  plt.legend()
  
  plt.figure()
  plt.plot(sol_indirect.y[:, 0], sol_indirect.y[:, 1], linestyle='-', color='b', label='indirect')
  plt.title('State-Space')
  plt.xlabel('$x_1$ [nd]')
  plt.ylabel('$x_2$ [nd]')
  plt.grid(True)
  plt.legend()
  
  plt.figure()
  plt.plot([0,1], [2,2], linestyle='--', color='k')
  plt.plot([0,1], [-2,-2], linestyle='--', color='k')
  plt.plot(sol_indirect.t, sol_indirect.u, linestyle='-', color='b', label='indirect')
  plt.title('Control')
  plt.xlabel('Time [nd]')
  plt.ylabel('$u$ [nd]')
  plt.grid(True)
  plt.legend()
  plt.show()
  
  