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## Composite constraints - t=0
Gamma = [Gamma_u; Gamma_y];
gamma = [gamma_u; gamma_y];
## Design the controller
## disp("Designing controller");
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] = ppp_lin (A,B,C,D,A_u,A_w,t,Q);
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] = ppp_lin (A,B,C,D,A_u,A_w,t,Q,R,P);
## Set up various time vectors
dt = t(2)-t(1); # Time increment
## Make sure Delta_ol is multiple of dt
Delta_ol = floor(Delta_ol/dt)*dt;
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