## Some names
target=${sys}_${rep}.${lang}
def_file=${sys}_def.r
dat2_file=${sys}_nppp.dat2
dat2s_file=${sys}_nppps.dat2
nppp_numpar_file=${sys}_nppp_numpar.m


## Get system information
if [ -f "${def_file}" ]; then
 echo Using ${def_file}
else
  mtt -q ${sys} def r
fi

ny=`mtt_getsize $1 y`
nu=`mtt_getsize $1 u`

## Help documentation
help_short() {
cat<<EOF
Nonlinear predictive pole placement
EOF
}


help_long() {
cat<<EOF
Details go here
EOF


}


## Make the _nppp.m file
make_nppp() {
filename=${sys}_${rep}.m
echo Creating ${filename}

cat > ${filename} <<EOF    

    printf("Open-loop interval %3.2f \n", simpar.last);
    printf(" -- using info in ${sys}_simpar.txt\n");
    printf("PPP optimisation from %3.2f to %3.2f\n", simpars.first, simpars.last);
    printf(" -- using info in s${sys}_simpar.txt\n");
  endif
  
  t_horizon = [simpars.first+simpars.dt:simpars.dt:simpars.last]';
  w_s = ones(size(t_horizon))*w';

  ## Setup the indices of the adjustable stuff
  if nargin<2
    i_ppp = []
  else
    i_ppp = ppp_indices (ppp_names,sympar,sympars); # Parameters
  endif

  j=[];
  for i = 1:length(T_open)
    j = [j; find(T_open(i)*ones(size(t))==t)];
  endfor
  y_open = y(j,:);
  u_open = u(j,:);

  if extras.visual
    ## Plots
    gset grid; xlabel "Time (sec)"; title "${sys}"
    ty = [t y] ; 
    tu =  [t u]; 
  
    ty_open = [T_open y_open];
    tu_open = [T_open u_open];
  
    gplot  tu \
        title "u", tu_open with impulses title "Sample times"
    figfig("${sys}_u","eps");
  
    gplot  ty \
        title "y", ty_open with impulses title "Sample times"
    figfig("${sys}_y","eps");
  
    system("gv ${sys}_y.eps&");
    system("gv ${sys}_u.eps&");
  endif
endfunction

EOF
}

make_nppp_numpar() {
echo Creating ${nppp_numpar_file}

  extras.verbose = 0;
  extras.visual = 0;

endfunction
EOF
}

make_model() {
    
echo "Making sensitivity simulation for system ${sys} (lang ${lang})"

if [ "${lang}" = "oct" ]; then
    oct='-oct'
fi

## System
mtt -q ${mtt_parameters} -stdin ${sys} sympar m
mtt -q ${mtt_parameters} -stdin ${sys} simpar m
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} state ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} numpar ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} input ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} ${sys} ode2odes ${lang}
mtt -q ${mtt_parameters} -stdin ${sys} sim m

## Sensitivity system
mtt -q ${mtt_parameters} -stdin -s s${sys} sympar m
mtt -q ${mtt_parameters} -stdin -s s${sys} simpar m
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} state ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} numpar ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} input ${lang}
mtt -q ${mtt_parameters} -stdin ${oct} -s s${sys} ode2odes ${lang}
mtt -q ${mtt_parameters} -stdin -s s${sys} ssim m

## Additional system reps for PPP
mtt -q ${mtt_parameters} -stdin  ${sys} sm m
mtt -q ${mtt_parameters} -stdin  ${sys} def m
mtt -q ${mtt_parameters} -stdin  -s s${sys} def m

}

make_dat2() {

## Inform user
echo Creating ${dat2_file}

## Use octave to generate the data
octave -q <<EOF
  [last, ppp_names, par_names, A_u, A_w, w, Q, extras] = ${sys}_nppp_numpar;
  [y,u,t] = ${sys}_nppp(last, ppp_names, par_names, A_u, A_w, w, Q, extras);
  data = [t,y,u];
  save -ascii ${dat2_file} data
EOF
}

case ${lang} in
    help_short)
        help_short
        ;;
    help_long)
        help_long
        ;;
    numpar.m)
        ## Make the numpar stuff
        make_nppp_numpar;
	;;
    m)
        ## Make the code
        make_nppp;

	gdat2fig ${sys}_${rep}
	;;
    ps)
	fig2dev -Leps ${sys}_${rep}.fig > ${sys}_${rep}.ps
	;;

    view)
	

	;;
    *)
	echo Language ${lang} not supported by nppp representation
        exit 3
esac