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Comment:Modified for new qp_mu algorithms
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SHA3-256: 5c4767b05b8cfc650652f779608693071b5a234fe4735576448220d533f3050c
User & Date: gawthrop@users.sourceforge.net on 2002-09-11 14:17:36
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Context
2002-09-11
14:19:28
Time-varying set point W check-in: bf3ec42286 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
14:17:36
Modified for new qp_mu algorithms check-in: 5c4767b05b user: gawthrop@users.sourceforge.net tags: origin/master, trunk
2002-09-03
19:34:15
Write EdX regardless - csex is needed to create ode when not optimised. check-in: 35095f6bf3 user: geraint@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/control/PPP/ppp_qp.m from [3e26f7769e] to [7d027370b3].

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  [n,m] = size(J_ux);
  if (n != n_U)||(m != n_x)
    error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m);
  endif


  if length(gamma)>0		# Constraints exist: do the QP algorithm

    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu); # QP solution for weights U	

    ##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    ##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    u = Us0*U;			# Control signal
  else			# Do the unconstrained solution
    ## Compute the open-loop gains
    iterations = 0;








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  [n,m] = size(J_ux);
  if (n != n_U)||(m != n_x)
    error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m);
  endif


  if length(gamma)>0		# Constraints exist: do the QP algorithm
    ## QP solution for weights U	
    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu);

    ##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    ##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
    u = Us0*U;			# Control signal
  else			# Do the unconstrained solution
    ## Compute the open-loop gains
    iterations = 0;
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