[U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu); # QP solution for weights U	

    ##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;
    K_w = J_uu\J_uw;
    K_x = J_uu\J_ux;

    ## Closed-loop control
    U = K_w*W - K_x*x;		# Basis functions weights - U(t)
    u = Us0*U;			# Control u(t)
  endif