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function [Gamma,gamma] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,Min,Max,Order,i_y)
## usage: [Gamma,gamma] = ppp_output_constraint (A,B,C,D,A_u,Tau,Min,Max,Order)
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## Derives the output constraint matrices Gamma and gamma
## For Constraints Min and max at times Tau
## Order=0 - output constraints
## Order=1 - output derivative constraints
## etc
## NOTE You can stack up Gamma and gamma matrices for create multi-output constraints.
## Copyright (C) 1999 by Peter J. Gawthrop
## $Id$
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function [Gamma,gamma] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,Min,Max,Order,i_y)
## usage: [Gamma,gamma] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,Min,Max,Order)
##
## Derives the output constraint matrices Gamma and gamma
## For Constraints Min and Max at times Tau
## Initial state x_0
## Order=0 - output constraints
## Order=1 - output derivative constraints
## etc
## NOTE You can stack up Gamma and gamma matrices for create multi-output constraints.
## Copyright (C) 1999 by Peter J. Gawthrop
## $Id$
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