function [T,y,u,X,Iterations] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,\
function [T,y,u,X,Iterations] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,R,P,\
					    Tau_u,Min_u,Max_u,Order_u, \
					    Tau_y,Min_y,Max_y,Order_y, \
					    W,x_0,Delta_ol,mu,test,movie)

  ## usage: [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y, W,x_0,movie)
  ## Needs documentation - see ppp_ex11 for example of use.
  ## OUTPUTS
  ## T: Time vector
  ## y,u,J output, input and cost

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	
  
  if nargin<19			# No intermittent control
  if nargin<21			# No intermittent control
    Delta_ol = 0;
  endif

  if nargin<20			# Mu
  if nargin<22			# Mu
    mu = 0;
  endif

  if nargin<21
  if nargin<23
    test=0
  endif
  
  if nargin<22			# No movie
  if nargin<24			# No movie
    movie = 0;
  endif

test = test
  ## Check some sizes
  [n_x,n_u,n_y] = abcddim(A,B,C,D);