Nick Robinson goes behind the closed doors of Whitehall and Westminster to ask how controversial decisions are reached.

This week, he and his panel examine the European Court of Human Rights, which has generated controversy with its judgement on prisoner voting. With him to examine the case for changing Britain's relationship with the court are Jack Straw MP, the former Home, Foreign and Justice Secretary who has been leading the criticism of the Court on prisoner voting, Carl Gardner, a former government lawyer, Priti Patel, the Conservative MP, Sir Stephen Wall, the former Permanent Representative to the EU and former chief European adviser the Prime Minister, and Allegra Stratton, political correspondent for the Guardian. Show less