Index: mttroot/mtt/lib/control/PPP/ppp_qp.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_qp.m
+++ mttroot/mtt/lib/control/PPP/ppp_qp.m
@@ -38,11 +38,12 @@
     error("J_ux should be %ix%i not %ix%i",n_U,n_x,n,m);
   endif
 
 
   if length(gamma)>0		# Constraints exist: do the QP algorithm
-    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu); # QP solution for weights U	
+    ## QP solution for weights U	
+    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu);
 
     ##U = qp(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
     ##U = pd_lcp04(J_uu,(J_ux*x - J_uw*W),Gamma,gamma); # QP solution for weights U
     u = Us0*U;			# Control signal
   else			# Do the unconstrained solution