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function [U, U_all, Error, Y] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras)
## usage: [U, U_all, Error, Y] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras)
##
##
if nargin<8
extras.criterion = 1e-8;
extras.max_iterations = 10;
extras.v = 0.1;
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function [U, U_all, Error, Y, its] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras)
## usage: [U, U_all, Error, Y,its ] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras)
##
##
if nargin<8
extras.criterion = 1e-8;
extras.max_iterations = 10;
extras.v = 0.1;
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## Checks
if (n_us<>n_u)
error(sprintf("Inputs (%i) differenct to system inputs (%i)", n_us, n_u));
endif
##Optimise
[par,Par,Error,Y] = ppp_optimise(s_system_name,x_0,par_0,sim,us,w,free,extras);
U = par(free(:,1));
U_all = Par(free(:,1),:);
endfunction
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## Checks
if (n_us<>n_u)
error(sprintf("Inputs (%i) differenct to system inputs (%i)", n_us, n_u));
endif
##Optimise
[par,Par,Error,Y,its] = ppp_optimise(s_system_name,x_0,par_0,sim,us,w,free,extras);
U = par(free(:,1));
U_all = Par(free(:,1),:);
endfunction
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