Index: mttroot/mtt/lib/control/PPP/ppp_output_constraint.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_output_constraint.m
+++ mttroot/mtt/lib/control/PPP/ppp_output_constraint.m
@@ -48,16 +48,32 @@
 
   ## Compute Gamma 
   Gamma = [];
   for i=1:n_U
     U = zeros(n_U,1); U(i,1) = 1; # Set up U_i
-    y_i = ppp_ystar (A,B,C,D,x_0,A_u,U,Tau);# Compute y* for ith input for each tau
+    y_i = ppp_ystar (A,B,C,D,x_0,A_u,U,Tau); # Compute y* for ith input for each tau
     y_i = y_i(i_y,:); # Pluck out output i_y
-    Gamma = [Gamma [-y_i';y_i']]; # Put in parts for Min and max
+    ## Gamma = [Gamma [-y_i';y_i']]; # Put in parts for Min and max
+    Gamma_i = [];
+    if (Min>-inf)
+      Gamma_i = [Gamma_i; -y_i']; # Min part of column
+    endif
+    if (Max<inf)
+      Gamma_i = [Gamma_i;  y_i'];	# Add column for Max
+    endif
+    Gamma = [Gamma Gamma_i]; # Put in parts for Min and max
   endfor
 
   ## Compute gamma
-  gamma = [-Min';Max'];
+  ##  gamma = [-Min';Max'];
 
+  gamma = [];
+  if (Min>-inf)
+    gamma = [gamma; -Min'];
+  endif
+  if (Max<inf)
+    gamma = [gamma; Max'];
+  endif
+  
 endfunction