function params = RightStancePreProcess(sys, t, x, controller, params) %#ok<INUSL>
    
    y = struct2array(sys.VirtualConstraints);
    
    for i=1:numel(y)
        if strcmp(y(i).PhaseType,'TimeBased')
            params.(y(i).PhaseParamName) = t + params.(y(i).PhaseParamName);
        end
    end
    
end