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i_u = 1;
## Simulation
W=1;
x_0 = 0;
## Linear
[ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t);
plot(T,y,T,u);
endfunction
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i_u = 1;
## Simulation
W=1;
x_0 = 0;
## Linear
ppp_lin_plot (A,B,C,D,A_u,A_w,t);
## Non-linear
movie = 0;
[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,u_1,u_2");
xlabel("t");
grid;
plot(T,y,"-;y;", T,u(1,:),"--;u_1;", T,u(2,:),".-;u_2;");
endfunction
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