Index: mttroot/mtt/lib/control/PPP/ppp_lin_run.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_lin_run.m
+++ mttroot/mtt/lib/control/PPP/ppp_lin_run.m
@@ -62,11 +62,11 @@
   if !struct_contains(p_c,"augment")
     p_c.augment = 0;		# Augment basis funs with constant
   endif
   
   if !struct_contains(p_c,"integrate")
-    p_c.integrate = 0;		# Augment basis funs with constant
+    p_c.integrate = 0;		
   endif
   
   if !struct_contains(p_c,"Tau_u")
     p_c.Tau_u = [];
     p_c.Min_u = [];
@@ -114,11 +114,13 @@
     else
       error(sprintf("Method %s not recognised", p_c.Method));
     endif
   endif
   
-      
+  if !struct_contains(p_c,"A_e")
+    p_c.A_e = [];			# No extra modes
+  endif
 
   if !struct_contains(p_o,"x_0")
     p_o.x_0 = zeros(n_x,1);
   endif
   
@@ -149,18 +151,16 @@
     K_w(2,1) = -1;
     K_x = zeros(p_c.n_U,n_x);
   else
     I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
     if strcmp(p_c.Method, "original")
-##      tau = [10:0.1:11]*(2/a_u);	# Time horizons
       [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
 	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
     elseif strcmp(p_c.Method, "lq") # LQ design
-##      tau = [0:0.001:1]*2; # Time horizons
       [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
-	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R);
-      p_c.A_u = A_u;
+	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R,p_c.A_e);
+      p_c.A_u = A_u
     else
       error(sprintf("Control method %s not recognised", p_c.Method));
     endif
 
     ##Sanity check A_u
@@ -279,13 +279,13 @@
 	
 	## Composite constraints - t=0
 	Gamma = [Gamma_u; Gamma_y];
 	gamma = [gamma_u; gamma_y];
 	
-	[u_qp,U] = ppp_qp (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
+	[u_qp,U] = ppp_qp \
+	    (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
       endif
-      
 
       ## Save data
       if Simulate
 	t = [t;ti'];
 	y = [y;yi'];