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1 0 0
0 1 0];
B = [1
0
0];
C = [0 -0.5 1];
D = 0;
[n_x,n_u,n_y] = abcddim(A,B,C,D)
## Controller
t = [4:0.02:5]; # Time horizon
A_w = 0; # Setpoint
A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions
Q = ones(n_y,1);;
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1 0 0
0 1 0];
B = [1
0
0];
C = [0 -0.5 1];
D = 0;
[n_x,n_u,n_y] = abcddim(A,B,C,D);
## Controller
t = [4:0.02:5]; # Time horizon
A_w = 0; # Setpoint
A_u = ppp_aug(laguerre_matrix(3,2.0), A_w); # Input functions
Q = ones(n_y,1);;
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[T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
Tau,Min,Max,Order, \
[],[],[],[], W,x_0);
title("y,y*,u and u*");
xlabel("t");
grid;
plot(T,y,T,u,T,ys,T,us);
## 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);
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[T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, \
Tau,Min,Max,Order, \
[],[],[],[], W,x_0);
title("y,y*,u and u*");
xlabel("t");
grid;
plot(T,y,"1;y;", T,u,"2;u;", T,ys,"3;y*;", T,us,"4;u*;");
## 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);
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