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function [T,y,u,X,Iterations] = 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,Delta_ol,mu,test,movie)
## usage: [T,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,movie)
## Needs documentation - see ppp_ex11 for example of use.
## OUTPUTS
## T: Time vector
## y,u,J output, input and cost
## Copyright (C) 1999 by Peter J. Gawthrop
## $Id$
if nargin<19 # No intermittent control
Delta_ol = 0;
endif
if nargin<20 # Mu
mu = 0;
endif
if nargin<21
test=0
endif
if nargin<22 # No movie
movie = 0;
endif
test = test
## Check some sizes
[n_x,n_u,n_y] = abcddim(A,B,C,D);
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function [T,y,u,X,Iterations] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,R,P,\
Tau_u,Min_u,Max_u,Order_u, \
Tau_y,Min_y,Max_y,Order_y, \
W,x_0,Delta_ol,mu,test,movie)
## usage: [T,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,movie)
## Needs documentation - see ppp_ex11 for example of use.
## OUTPUTS
## T: Time vector
## y,u,J output, input and cost
## Copyright (C) 1999 by Peter J. Gawthrop
## $Id$
if nargin<21 # No intermittent control
Delta_ol = 0;
endif
if nargin<22 # Mu
mu = 0;
endif
if nargin<23
test=0
endif
if nargin<24 # No movie
movie = 0;
endif
test = test
## Check some sizes
[n_x,n_u,n_y] = abcddim(A,B,C,D);
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