Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m
==================================================================
--- mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m
+++ mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m
@@ -1,8 +1,11 @@
 ## Figures.m
 ## Makes figures for the rc_PPP exasmple.
 ## $Log$
+## Revision 1.2  2000/05/21 06:39:23  peterg
+## Parameterised _sm
+##
 ## Revision 1.1  2000/05/19 13:15:38  peterg
 ## Initial revision
 ##
 ## Revision 1.2  2000/05/17 17:02:58  peterg
 ## Fixed documentation
@@ -68,35 +71,38 @@
 ## Simulate non-linear PPP (on this linear system)
 extras.U_initial = "zero";
 extras.U_next = "continuation";
 extras.criterion = 1e-5;
 extras.max_iterations = 10;
-extras.alpha = 0.1;
+extras.alpha = 0;
 extras.verbose = 0;
 
 ##  -- with no optimisation using linear PPP with continuation
 disp("Linear PPP at time zero with continuation trajectories")
 extras.U_initial = "linear";
 extras.U_next = "continuation";
 extras.criterion = 1e-5;
+extras.alpha = 0;
 extras.max_iterations = 0;
 [y_c,x,u_c,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
 
 ##  -- with no optimisation using linear PPP at each step
 disp("Linear PPP at each step")
 extras.U_initial = "linear";
 extras.U_next = "linear";
 extras.criterion = 1e-5;
 extras.max_iterations = 0;
+extras.alpha = 0;
 [y_l,x,u_l,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
 
 ##  -- with optimisation using nonlinear PPP with continuation
 disp("Nonlinear PPP");
 extras.U_initial = "zero";
 extras.U_next = "continuation";
-extras.criterion = 1e-5;
-extras.max_iterations = 100;
+extras.alpha = 0.0001;
+extras.criterion = 1e-6;
+extras.max_iterations = 1000;
 [y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
 
 
 ## Plots
 title("");