ADDED   mttroot/mtt/lib/control/PPP/ppp_input_constraints.m
Index: mttroot/mtt/lib/control/PPP/ppp_input_constraints.m
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/control/PPP/ppp_input_constraints.m
@@ -0,0 +1,42 @@
+function [Gamma,gamma] = ppp_input_constraints (A_u,Tau,Min,Max,Order)
+
+  ## usage:  [Gamma,gamma] = ppp_input_constraints (A_u,Tau,Min,Max[,Order])
+  ##
+  ## Derives input copnstraint matrices Gamma and gamma 
+  ## for multi-input systems.
+  ## A_u Input-generating matrix
+  ## Tau row vector of times at which constraints occur
+  ## Max, Maximum and minimum values
+  ## Limits at inf and -inf are discarded
+
+  ## Sanity check
+  [n_u,n_tau] = size(Min);
+  [n,m] = size(Max);
+  if (n!=n_u)||(m!=n_tau)
+    error("Max and Min must have the same dimensions");
+  endif
+  
+  [n,m] = size(Tau);
+  if (m!=n_tau)
+    error("Max and Min must have same number of columns as Tau");
+  endif
+  if (n>1)
+    error("Tau must be a row vector");
+  endif
+
+  ##Defaults
+  if nargin<5
+    Order=zeros(1,n_tau);
+  endif
+  
+  ## Stack up constraints for each input
+  Gamma=[];
+  gamma=[];
+  for i_u=1:n_u
+    [Gamma_i,gamma_i] = \
+	ppp_input_constraint(A_u,Tau,Min(i_u,:),Max(i_u,:),Order,i_u,n_u);
+    Gamma = [Gamma; Gamma_i];
+    gamma = [gamma; gamma_i];
+  endfor
+
+endfunction

ADDED   mttroot/mtt/lib/control/PPP/ppp_output_constraints.m
Index: mttroot/mtt/lib/control/PPP/ppp_output_constraints.m
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/control/PPP/ppp_output_constraints.m
@@ -0,0 +1,39 @@
+function [Gamma,gamma] = ppp_output_constraints (A,B,C,D,x_0,A_u,Tau,Min,Max,Order)
+
+  ## usage:
+  ## [Gamma,gamma] = ppp_output_constraints(A,B,C,D,x_0,A_u,Tau,Min,Max,Order)
+  ##
+  ## 
+  
+  ## Sanity check
+  [n_y,n_tau] = size(Min);
+  [n,m] = size(Max);
+  if (n!=n_y)||(m!=n_tau)
+    error("Max and Min must have the same dimensions");
+  endif
+  
+  [n,m] = size(Tau);
+  if (m!=n_tau)
+    error("Max and Min must have same number of columns as Tau");
+  endif
+  if (n>1)
+    error("Tau must be a row vector");
+  endif
+
+  ##Defaults
+  if nargin<10
+    Order=zeros(n_y,n_tau);
+  endif
+  
+  ## Stack up constraints for each input
+  Gamma=[];
+  gamma=[];
+  for i_y=1:n_y
+    [Gamma_i,gamma_i] = \
+	ppp_output_constraint (A,B,C,D,x_0,A_u,Tau,\
+			       Min(i_y,:),Max(i_y,:),Order(i_y,:),i_y);
+    Gamma = [Gamma; Gamma_i];
+    gamma = [gamma; gamma_i];
+  endfor
+  
+endfunction