ADDED   mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m
Index: mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Control/PPP/Nonlinear/rcPPP/rcPPP_nppp.m
@@ -0,0 +1,129 @@
+## Figures.m
+## Makes figures for the rc_PPP exasmple.
+## $Log$
+## Revision 1.2  2000/05/17 17:02:58  peterg
+## Fixed documentation
+##
+## Revision 1.1  2000/05/17 09:14:37  peterg
+## Initial revision
+##
+system_name = "rcPPP";
+
+## Uncomment the following the first time
+## (Or do ./Make rcPPP in this directory)
+
+## MTT stuff for the system simulation
+##system("Make rcPPP");
+
+
+
+t_s=[0:0.1:10];
+u = [ones(1,length(t_s));ones(1,length(t_s))];
+x_0 = rcPPP_state;
+par  = rcPPP_numpar;
+
+## Simulate the system
+tick=time;
+[y,x] = rcPPP_sim(x_0,u,t_s,par);
+Elapsed = time-tick
+plot(t_s,y,t_s,x);
+
+## Simulate the system to give just the final few point
+t_s1 = [9:0.1:10];
+tick=time;
+[y,x] = rcPPP_sim(x_0,u,t_s1,par);
+Elapsed = time-tick
+plot(t_s1,y,t_s1,x);
+
+## Sensitivity system simulation parameters
+x_0s = srcPPP_state;
+pars  = srcPPP_numpar;
+sympars  = srcPPP_sympar;
+
+## Simulate the sensitivity system
+sensitivities = [sympars.ppp_1s,sympars.ppp_2s,sympars.rs]
+tick=time;
+[y,ys] = srcPPP_sim(x_0s,u,t_s,[sympars.r,2.0],sensitivities);
+Elapsed = time-tick
+plot(t_s,y,t_s,ys);
+
+### PPP parameters
+A_w = 0;
+A_u = ppp_aug(A_w,laguerre_matrix(1,10)); # Specify basis functions: constant & exp(-5t)
+tau = [0.9:0.01:1];		# Optimisation interval
+t_ol = [0:0.01:0.2];		# Open-loop interval
+N = 5;				# Number of open-loop intervals in simulation
+w = 1;				# Setpoint
+
+## Linear system
+[A,B,C,D] = rcPPP_sm;
+Q = 1;
+w = 1;
+ppp_lin_plot (A,B(:,1),C(1,:),D(1,1),A_u,A_w,tau,Q,w,x_0);
+psfig("rcPPP_lin");
+
+## 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.verbose = 0;
+
+##  -- with no optimisation using linear PPP with continuation
+extras.U_initial = "linear";
+extras.U_next = "continuation";
+extras.criterion = 1e-5;
+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
+extras.U_initial = "linear";
+extras.U_next = "linear";
+extras.criterion = 1e-5;
+extras.max_iterations = 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 no optimisation using nonlinear PPP with continuation
+extras.U_initial = "zero";
+extras.U_next = "continuation";
+extras.criterion = 1e-5;
+extras.max_iterations = 100;
+[y,x,u,t,U,U_c,U_l] = ppp_nlin_sim (system_name,A_u,tau,t_ol,N,w,extras);
+
+
+## Plots
+title("");
+
+## U, U_c and U_l
+I = 1:N;
+IU1 = [I' U(1,:)'];
+IU1_c = [I' U_c(1,:)'];
+IU1_l = [I' U_l(1,:)'];
+gset grid; xlabel "Interval"
+gplot IU1 title "U_1", IU1_c title "U_c1", IU1_l title "U_l1"
+psfig("rcPPP_U1");
+
+IU2 = [I' U(2,:)'];
+IU2_c = [I' U_c(2,:)'];
+IU2_l = [I' U_l(2,:)'];
+gset grid; xlabel "Interval "
+gplot IU2 title "U_2", IU2_c title "U_c2", IU2_l title "U_l2"
+psfig("rcPPP_U2");
+
+## y & u
+gset grid; xlabel "Time (sec)"
+ty = [t' y'] ; tu =  [t' u']; 
+gplot ty title "Output", tu title "Input"
+
+psfig("rcPPP_yu");
+
+title("");
+gset grid; xlabel "Time (sec)"
+ty_c = [t' y_c'] ; 
+ty_l = [t' y_l'] ; 
+ty = [t' y'] ; 
+tu =  [t' u']; 
+gplot ty_c title "Continuation", ty_l title "Linear", ty title "Optimisation"
+psfig("rcPPP_ylco");
+