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function [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,A_u] = \
ppp_lin_quad (A,B,C,D,tau,Q,R)
## usage:
## [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu] =
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function [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] = \
ppp_lin_quad (A,B,C,D,tau,Q,R)
## usage:[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] =
## ppp_lin_quad (A,B,C,D,tau,Q,R)
##
##
## Steady-state Linear Quadratic solution
## using Algebraic Riccati equation (ARE)
[P,A_u,A_w] = ppp_are (A,B,C,D,Q,R);
## PPP solution
[k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] = \
ppp_lin(A,B,C,D,A_u,A_w,tau,Q,R,P);
A_u
endfunction
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