function [Gamma,gamma] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,Min,Max,Order,i_y)

  ## usage:  [Gamma,gamma] = ppp_output_constraint (A,B,C,D,A_u,Tau,Min,Max,Order)
  ## usage:  [Gamma,gamma] = ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,Min,Max,Order)
  ##
  ## Derives the output constraint matrices Gamma and gamma
  ## For Constraints Min and max at times Tau 
  ## For Constraints Min and Max at times Tau
  ## Initial state x_0 
  ## Order=0 - output constraints
  ## Order=1 - output derivative constraints
  ## etc
  ## NOTE You can stack up Gamma and gamma matrices for create multi-output constraints.

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$