function name = ppp_ex10 (ReturnName)
## usage: name = ppp_ex10 (ReturnName)
##
## PPP example - shows a standard multivariable system
##
## Example name
name = "Remotely-piloted vehicle example: system RPV from J.M Maciejowski: Multivariable Feedback Design";
if nargin>0
return
endif
## System
[A,B,C,D] = rpv;
[n_x,n_u,n_y] = abcddim(A,B,C,D)
## Controller
t = 1*[0.9:0.01:1]; # Time horizon
A_w = 0; # Setpoint
# TC = 0.1*[1 1]; # Time constants for each input
# A_u = [];
# for tc=TC # Input
# A_u = [A_u;ppp_aug(laguerre_matrix(2,1/tc), 0)];
# endfor
A_u = ppp_aug(laguerre_matrix(2,5.0), A_w)
Q = [1;1]; # Output weightings
## Design and plot
W = [1;2]
[ol_poles,cl_poles,ol_zeros,cl_zeros,k_x,k_w,K_x,K_w] = ppp_lin_plot (A,B,C,D,A_u,A_w,t,Q,W);
endfunction