function name = ppp_ex13 (ReturnName)
## usage: ppp_ex13 ()
##
## PPP example: Sensitivity minimisation (incomplete)
## Example name
name = "Sensitivity minimisation (incomplete)";
if nargin>0
return
endif
## System - unstable
A = [-3 -3 -1
1 0 0
0 1 0];
B = [1
0
0];
C = [0 -0.5 1
0 1.0 0];
D = [0;0];
## Setpoint
A_w = [0;0]
## Controller
t =[0:0.1:5]; # Optimisation horizon
t1 =[0:0.1:1];
t2 =[1.1:0.1:3.9];
t3 =[4:0.1:5];
A_u = ppp_aug(laguerre_matrix(3,5.0), 0);
q_s=1e3;
Q = [exp(5*t)
q_s*exp(-t)]
size(Q)
W = [1;0];
[ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W)
endfunction