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[n,m] = size(J_ux);
if (n != n_U)||(m != n_x)
error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m);
endif
if length(gamma)>0 # Constraints exist: do the QP algorithm
## QP solution for weights U
[U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu); # QP solution for weights U
[U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu);
##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
u = Us0*U; # Control signal
else # Do the unconstrained solution
## Compute the open-loop gains
iterations = 0;
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