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## Unconstrained OL simulation
[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("Constrained and unconstrained y*");
xlabel("t");
grid;
plot(T,ys,T,ysu)
## Non-linear - closed-loop
disp("Closed-loop simulation");
[T1,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*");
xlabel("t");
grid;
plot(T1,y,T,ys,T1,u,T,us);
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>
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## Unconstrained OL simulation
[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("Constrained and unconstrained y*");
xlabel("t");
grid;
plot(T,ys,"-;y* (constrained);", T,ysu,"--;y* (unconstrained);");
## Non-linear - closed-loop
disp("Closed-loop simulation");
[T1,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 and u");
xlabel("t");
grid;
plot(T,y,"1;y (constrained);", T,u,"2;u (constrained);");
endfunction
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