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[ys,us] = ppp_ystar (A,B,C,D,x_0,A_u,U,T);
## Unconstrained OL simulation
disp("Computing unconstrained ol response");
[uu,Uu] = ppp_qp (x_0,W,J_uu,J_ux,J_uw,Us0,[],[]);
[ysu,usu] = ppp_ystar (A,B,C,D,x_0,A_u,Uu,T);
title("Constained and unconstrained y*");
title("Constrained and unconstrained y*");
xlabel("t");
grid;
figure(1);
plot(T,ys,T,ysu)
plot(T,ys,"-;y*: constrained;", T,ysu, "--;y*: unconstrained;")
## Non-linear - closed-loop
disp("Computing constrained closed-loop response");
[T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
Tau_u,Min_u,Max_u,Order_u, \
Tau_y,Min_y,Max_y,Order_y,W,x_0);
title("y,y*,u and u*");
title("Constrained closed-loop response");
xlabel("t");
grid;
figure(2);
plot(T,y,T,u,T,ys,T,us);
plot(T,y,"-;y;", T,u,"--;u;");
## Compute derivatives.
dt = t(2)-t(1);
du = diff(u)/dt;
dus = diff(us)/dt;
T1 = T(1:length(T)-1);
# ## Compute derivatives.
# dt = t(2)-t(1);
# du = diff(u)/dt;
# dus = diff(us)/dt;
# T1 = T(1:length(T)-1);
##plot(T1,du,T1,dus);
endfunction
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