Index: mttroot/mtt/lib/control/PPP/ppp_lin.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_lin.m
+++ mttroot/mtt/lib/control/PPP/ppp_lin.m
@@ -174,16 +174,10 @@
   for i = 1:m_t
     Ust = Us(i,:);
     J_uu = J_uu + Ust'*R*Ust;
   endfor
   
-  ## Exit if badly conditioned
-  cond_uu = cond(J_uu);
-  if cond_uu>max_cond
-    error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu)));
-  endif
-
   ## w bits
   if n_W>0
     for i = 1:n_y			# For each output
       QQ = ones(n_U,1)*Q(i,:);	# Resize Q
       J_uw = J_uw + (QQ .* y_u(:,i:n_y:n_yu)') * Ws (:,i:n_y:n_yw);
@@ -211,10 +205,17 @@
     Y_0 = zeros(n_x,n_y); Y_0(1,:) = ones(1,n_y);
     x_W_t =  obsv(A,C)\Y_0;
   endif
 
   J_uw = J_uw + x_u_t'*P*x_W_t;
+
+  ## Exit if badly conditioned
+  cond_uu = cond(J_uu);
+  if cond_uu>max_cond
+    error(sprintf("J_uu is badly conditioned. Condition number = 10^%i",log10(cond_uu)));
+  endif
+
 
   ## Compute the open-loop gains
   K_w = J_uu\J_uw;
   K_x = J_uu\J_ux;