function name = ppp_ex2 (Return_Name)
## usage: Name = ppp_ex2 (Return_Name)
##
## PPP example: Effect of slow desired closed-loop
## $Id$
## Example name
name = "Effect of slow desired closed-loop: closed-loop is same as open loop";
if nargin>0
return
endif
## System
A = -1; # Fast - time constant = 1
B = 0.5; # Gain is 1/2
C = 1;
D = 0;
## Controller
t =[9:0.1:10]; # Optimisation horizon
A_u = [-0.1 0 # Slow - time constant = 10
1 0];
A_w = 0; # Constant set point
[ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w] = ppp_lin_plot(A,B,C,D,A_u,A_w,t)
endfunction