endif

  ##Defaults
  if nargin<10
    Order=zeros(n_y,n_tau);
  endif
  
  ## Stack up constraints for each input
  ## Stack up constraints for each output
  Gamma=[];
  gamma=[];
  for i_y=1:n_y
    [Gamma_i,gamma_i] = \
	ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,\
			       Min(i_y,:),Max(i_y,:),Order(i_y,:),i_y);
    Gamma = [Gamma; Gamma_i];