function name = ppp_ex7 (ReturnName)
## usage: name = ppp_ex7 (ReturnName)
##
## PPP example -- standard multivariable system
## $Id$
## Example name
name = "Aircraft example: system AIRC from J.M Maciejowski: Multivariable Feedback Design";
if nargin>0
return
endif
## System
[A,B,C,D] = airc;
[n_x,n_u,n_y] = abcddim(A,B,C,D)
## Controller
t = [4:0.01:5]; # Time horizon
A_w = 0; # Setpoint (same for each input)
#A_u = ppp_aug(laguerre_matrix(5,1), 0) # Same for each input
A_u = laguerre_matrix(5,1); # Same for each input
Q = ones(3,1); # Output weightings
## Design and plot
W = [1;2;3]
[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);
cl_poles
## Try open-closed theory but using computed values:
A_c = A - B*k_x; eig(A_c)
K_x
KK = ppp_open2closed (A_u,A_c,k_x)
100*((KK-K_x)./KK)
endfunction