ADDED   mttroot/gino/AUTHORS
Index: mttroot/gino/AUTHORS
==================================================================
--- /dev/null
+++ mttroot/gino/AUTHORS
@@ -0,0 +1,1 @@
+Peter J. Gawthrop (peter@gawthrop.net)

ADDED   mttroot/gino/COPYING
Index: mttroot/gino/COPYING
==================================================================
--- /dev/null
+++ mttroot/gino/COPYING
@@ -0,0 +1,29 @@
+
+This collection of functions for use with GNU Octave is hereby granted to
+the public domain.
+
+THIS COLLECTION IS PROVIDED BY THE CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR
+IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The individual functions are copyrighted by their respective authors and
+released under different licenses.  See the corresponding source files
+for the specific copyright and license.
+
+To the best of our knowledge, all files included in this distribution
+are available under an open source license.  The programs can be used,
+modified and/or redistributed without prejudice and without warranty.
+
+For the details of how the source can be combined with other source, see
+the individual licenses.  Any files not otherwise covered by a license
+are assumed to be covered by a BSD-style license (see COPYING.BSD) if the
+author is listed or in the public domain if no author is listed.  Files which
+link with octave are implicitly covered by the GPL (see COPYING.GPL).
+

ADDED   mttroot/gino/COPYING.BSD
Index: mttroot/gino/COPYING.BSD
==================================================================
--- /dev/null
+++ mttroot/gino/COPYING.BSD
@@ -0,0 +1,28 @@
+Copyright (c) <YEAR> <OWNER> All rights reserved.
+
+This program is free software.  Redistribution and use in source and
+binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright 
+      notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+
+    * Neither the name of the <ORGANIZATION> nor the names of its
+      contributors may be used to endorse or promote products derived from
+      this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
+BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
+THE POSSIBILITY OF SUCH DAMAGE.

ADDED   mttroot/gino/COPYING.GPL
Index: mttroot/gino/COPYING.GPL
==================================================================
--- /dev/null
+++ mttroot/gino/COPYING.GPL
@@ -0,0 +1,339 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+                          675 Mass Ave, Cambridge, MA 02139, USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users.  This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it.  (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.)  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
+  To protect your rights, we need to make restrictions that forbid
+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must give the recipients all the rights that
+you have.  You must make sure that they, too, receive or can get the
+source code.  And you must show them these terms so they know their
+rights.
+
+  We protect your rights with two steps: (1) copyright the software, and
+(2) offer you this license which gives you legal permission to copy,
+distribute and/or modify the software.
+
+  Also, for each author's protection and ours, we want to make certain
+that everyone understands that there is no warranty for this free
+software.  If the software is modified by someone else and passed on, we
+want its recipients to know that what they have is not the original, so
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+
+  Finally, any free program is threatened constantly by software
+patents.  We wish to avoid the danger that redistributors of a free
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+  The precise terms and conditions for copying, distribution and
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+
+                    GNU GENERAL PUBLIC LICENSE
+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+  0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
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+You may charge a fee for the physical act of transferring a copy, and
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+  2. You may modify your copy or copies of the Program or any portion
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+
+These requirements apply to the modified work as a whole.  If
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+
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+  5. You are not required to accept this License, since you have not
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+modifying or distributing the Program (or any work based on the
+Program), you indicate your acceptance of this License to do so, and
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+  6. Each time you redistribute the Program (or any work based on the
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+
+If any portion of this section is held invalid or unenforceable under
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+
+This section is intended to make thoroughly clear what is believed to
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+
+  8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
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+may add an explicit geographical distribution limitation excluding
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+
+  9. The Free Software Foundation may publish revised and/or new versions
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+
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+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation.  If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+  10. If you wish to incorporate parts of the Program into other free
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+
+                            NO WARRANTY
+
+  11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
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+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
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+
+  12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
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+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) 19yy  <name of author>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) 19yy name of author
+    Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+  `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Library General
+Public License instead of this License.

ADDED   mttroot/gino/INSTALL
Index: mttroot/gino/INSTALL
==================================================================
--- /dev/null
+++ mttroot/gino/INSTALL
@@ -0,0 +1,16 @@
+=======================================================================
+Prerequisites
+
+Octave and ginsh must be installed before installing gino
+
+
+=======================================================================
+Simple system installation
+
+$ tar xzf gino-<ver>.tar.gz
+$ cd gino-<ver>
+$ make clean
+$ make 
+
+As superuser
+# make install

ADDED   mttroot/gino/Makefile
Index: mttroot/gino/Makefile
==================================================================
--- /dev/null
+++ mttroot/gino/Makefile
@@ -0,0 +1,13 @@
+## Makefile for gino library
+
+all: g_funs
+
+g_funs:
+	./create_gino.sh
+
+clean:
+	rm -rf g_funs
+
+install: g_funs
+	cp -rf ../gino /usr/share/octave/site/m
+

ADDED   mttroot/gino/README
Index: mttroot/gino/README
==================================================================
--- /dev/null
+++ mttroot/gino/README
@@ -0,0 +1,23 @@
+Gino is a symbolic toolbox for octave (www.octave.org) using ginsh -
+the shell interface to ginac (www.ginac.de).
+
+ginsh.m provides a low-level octave interface to ginsh. All of the
+ginsh functions are implemented by octave functions of the form
+g_fun(arglist).
+
+All in and out arguments of the toolbox functions are octave strings
+containing valid ginsh expressions. Where appropriate, these can be
+turned into matlab scalars, matrices and lists using octave's eval
+function. Spurious output is avoided by setting
+default_eval_print_flag=0.
+
+This provides a clear division between symbolic expressions (always
+contained in strings) and octave expressions. It also allows the
+powerful octave string machinery to be used to manipulate symbolic
+expressions.
+
+gino_examples.m contains some introductory examples.
+
+P.J.Gawthrop. 19th December 2002.
+
+

ADDED   mttroot/gino/create_gino.sh
Index: mttroot/gino/create_gino.sh
==================================================================
--- /dev/null
+++ mttroot/gino/create_gino.sh
@@ -0,0 +1,73 @@
+#! /bin/sh
+## Creates gino functions by querying ginsh
+# Copyright (C) 2002 by Peter J. Gawthrop
+
+prefix="g_"			# Prefix function names by this
+subdir=${prefix}funs		# Where the generated functions live
+ginsh="/usr/bin/ginsh"		# Location of ginsh
+
+create_fun() {
+    funname=${prefix}$1
+    filename=${funname}.m
+
+    ## Creates an octave function
+    echo Creating ${subdir}/${filename}
+
+    ## Find usage string
+
+    usage=`echo "?$1" | ginsh | head -1`
+
+    ## The octave function
+    cat<<EOF > ${subdir}/${filename}
+function res = ${funname} (arg1,arg2,arg3)
+
+  ## usage:  res = ${prefix}${usage}
+
+  ## Generated by create_gino.sh on `date`
+  ## DO NOT EDIT ME
+
+  if nargin<1
+    arg1 = "";
+  endif
+
+  if nargin<2
+    arg2 = "";
+  endif
+
+  if nargin<3
+    arg3 = "";
+  endif
+
+  res = gino("$1", arg1, arg2, arg3);
+
+endfunction
+EOF
+}
+
+create_readme() {
+    cat > ${subdir}/README <<EOF
+These files were generated automatically by create_gino.sh
+on `date`.
+
+DO NOT EDIT THEM
+EOF
+}
+
+## Find available ops
+ops=`echo "??" | ginsh | gawk '{if(i++==1) {gsub(",",""); print $0}}'`
+
+## Does ginsh exist?
+if [ -x "${ginsh}" ]; then
+    echo $ginsh exists - ok
+else
+    echo $ginsh does not exist, exiting
+    exit
+fi
+
+## Create the corresponding octave funs.
+mkdir -p ${subdir}
+create_readme;
+for op in ${ops}; do
+    create_fun ${op}
+done
+

ADDED   mttroot/gino/g2o_pol.m
Index: mttroot/gino/g2o_pol.m
==================================================================
--- /dev/null
+++ mttroot/gino/g2o_pol.m
@@ -0,0 +1,27 @@
+function o_pol = g2o_pol (g_pol, object)
+
+  ## usage:  o_pol = g2o_pol (g_pol)
+  ##
+  ## Converts a ginsh polynomial to an octave polynomial
+  ## Both o_pol and g_pol are strings
+  ## o_pol can be an argument to eval
+
+  if nargin<1
+    error("usage:  o_pol = g2o_pol (g_pol)");
+  endif
+  
+  if nargin<2
+    object="s";
+  endif
+  
+  g_pol = g_expand(g_pol);
+  n = g_degree(g_pol, object);
+  n = eval([n,";"]);
+  o_pol = "";
+  for i=n:-1:0
+    pol_i = g_coeff(g_pol,object,int2str(i));
+    o_pol = sprintf("%s %s", o_pol, pol_i);
+  endfor
+  o_pol = sprintf("[%s ];", o_pol);
+
+endfunction

ADDED   mttroot/gino/gino.m
Index: mttroot/gino/gino.m
==================================================================
--- /dev/null
+++ mttroot/gino/gino.m
@@ -0,0 +1,29 @@
+function res = gino (op,arg1,arg2,arg3)
+
+  ## Gino is the octave interface to ginsh - the GiNaC shell interface.
+  ## The simplest way to use gino is via the octave functions  go_fun.
+  ## where "fun" is a ginsh function - type gino("??") for a list.
+  ## usage:  res = gino (op,arg1,arg2,arg3)
+  ## 
+  ## Please set default_eval_print_flag = 0
+  ##
+  ## Part of the gino (ginsh-octave) toolbox
+  ## Copyright (C) 2002 by Peter J. Gawthrop
+
+  if nargin<1
+    error("usage: gino(op,[arg1,arg2,arg3])p");
+  elseif (nargin==1)||(length(arg1)==0)
+    go_in = sprintf("%s", op);
+  elseif (nargin==2)||(length(arg2)==0)
+    go_in = sprintf("%s(%s)", op, arg1);
+  elseif (nargin==3)||(length(arg3)==0)
+    go_in = sprintf("%s(%s,%s)", op, arg1, arg2);
+  elseif (nargin==4)
+    go_in = sprintf("%s(%s,%s,%s)", op, arg1, arg2, arg3);
+  else
+    error("usage: gino(op,[arg1,arg2,arg3]");
+  endif
+
+  res = ginsh(go_in);
+
+endfunction

ADDED   mttroot/gino/gino_examples.m
Index: mttroot/gino/gino_examples.m
==================================================================
--- /dev/null
+++ mttroot/gino/gino_examples.m
@@ -0,0 +1,42 @@
+## Simple example of creating an octave polynomial symbolically
+P = g2o_pol("s^2*(s+a)*(s+b)^3") # Create symbolic polynomial in octave form
+a = 1; b = 2;			# Give a and b numerical values
+p = eval(P)			# Create numerical polynomial
+roots(p)			# Use p in any appropriate octave
+				# function
+
+## More complicated example of symbolic linearisation
+
+## ODE dx/dt = f(x,u); y = g(x,u)
+f_1 = "x_2 - beta*tanh(u_1)";
+f_2 = "-x_1 + x_2^2 + u_1";
+g_1   = "x_1";
+f = go_list(f_1,f_2)
+g = go_list(g_1)
+
+## Linearise via symbolic differentiation
+[A,B,C,D] = go_lin(f,g)
+
+## Find the transfer function
+
+I = "[[1,0],[0,1]]";		# Unit matrix
+## Create G as a string: C(sI-A)^-1B + D
+G_str = sprintf("%s*((s*%s-%s)^(-1))*%s + %s", C,I,A,B,D)
+
+## Find G itself
+G = g_evalm(G_str);		
+
+## Substitute steady-state values
+G = g_subs(G, "{u_1,x_1,x_2}", "{0,0,0}")
+
+## Extract the (only) matrix element
+G = g_op(G,"0")
+
+## Find numerator and denominator
+a = g2o_pol(g_denom(G))
+b = g2o_pol(g_numer(G))
+
+## Evaluate numerically
+beta = 0.5;
+b = eval(b)
+a = eval(a)

ADDED   mttroot/gino/ginsh.m
Index: mttroot/gino/ginsh.m
==================================================================
--- /dev/null
+++ mttroot/gino/ginsh.m
@@ -0,0 +1,32 @@
+function go_out = ginsh (go_in)
+
+  ## usage:  go_out = ginsh (go_in)
+  ##         go_out, go_in strings containing valid ginsh code
+  ## Interface to ginsh to provide symbolic manipulation within octave
+  ## Part of the gino (ginsh-octave) toolbox
+
+  ## Copyright (C) 2002 by Peter J. Gawthrop
+
+  ##   This program is free software; you can redistribute it and/or modify
+  ##    it under the terms of the GNU General Public License as published by
+  ##    the Free Software Foundation; either version 2 of the License, or
+  ##    (at your option) any later version.
+  
+  ##    This program is distributed in the hope that it will be useful,
+  ##    but WITHOUT ANY WARRANTY; without even the implied warranty of
+  ##    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  ##    GNU General Public License for more details.
+  
+  ##    You should have received a copy of the GNU General Public License
+  ##    along with this program; if not, write to the Free Software
+  ##    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ 
+
+  command = sprintf("echo ""%s;"" | ginsh ", go_in); 
+  go_out = system(command);
+
+  ## Strip trailing NL
+  go_out = substr(go_out,1,length(go_out)-1);
+  
+
+endfunction

ADDED   mttroot/gino/go_append.m
Index: mttroot/gino/go_append.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_append.m
@@ -0,0 +1,18 @@
+function new_list = go_append (list,element)
+
+  ## usage:  new_list = go_append (list,element)
+  ##
+  ## Appends element to list to give new list
+  ## This is missing from ginsh
+  ## Copyright (C) 2002 by Peter J. Gawthrop
+
+  new_list = deblank(list);	# Remove trailing blanks
+  new_list = new_list(1:length(new_list)-1); # Zap final }
+  if (g_nops(list)=="0")
+    new_list = sprintf("%s%s}", new_list, element);
+  else
+    new_list = sprintf("%s,%s}", new_list, element);
+  endif
+  
+
+endfunction

ADDED   mttroot/gino/go_diff.m
Index: mttroot/gino/go_diff.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_diff.m
@@ -0,0 +1,26 @@
+function [dfdx_l, dfdx_m] = go_diff (f,x)
+
+  ## usage:  [dfdx_l dfdx_m] = go_diff (f,x)
+  ##
+  ## dfdx_l is a list with ith element df/dx
+  ## dfdx_m the corresponing matrix (in ginsh form)
+  ## f may itself be a list
+  ## The elements of x must be symbols
+
+  N = eval(g_nops(f));
+  M = eval(g_nops(x));
+
+  dfdx = "{}";
+
+  ## Find derivatives of f for each x_i and append to list
+  for j = 1:M
+    dfdx = go_append(dfdx, g_diff(f,g_op(x,int2str(j-1))));
+  endfor
+
+  ## Convert to matrix and transpose
+  dfdx_m = g_transpose(go_lst_to_matrix(dfdx));
+
+  ## And back to a list
+  dfdx_l = go_matrix_to_lst(dfdx_m);
+
+endfunction

ADDED   mttroot/gino/go_gmatrix2mmatrix.m
Index: mttroot/gino/go_gmatrix2mmatrix.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_gmatrix2mmatrix.m
@@ -0,0 +1,9 @@
+function M_m = go_gmatrix2mmatrix (M-g)
+
+  ## usage:  M_m = go_gmatrix2mmatrix (M-g)
+  ##
+  ## Converts a ginsh format matrix to a matlab format matrix
+
+  M_m = strrep(M_g,"],[","];[");
+
+endfunction

ADDED   mttroot/gino/go_lin.m
Index: mttroot/gino/go_lin.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_lin.m
@@ -0,0 +1,30 @@
+function [A,B,C,D] = go_lin (f,g)
+
+  ## usage:  [A,B,C,D] = go_lin (f,g)
+  ##
+  ## 
+
+  n_x = eval(g_nops(f));		# Number of states
+  n_y = eval(g_nops(g));		# Number of outputs
+
+  n_u = n_y;
+
+  ## Create symbolic state list
+  x = "{}";
+  for i=1:n_x
+    x = go_append(x,sprintf("x_%i", i));
+  endfor
+
+
+  ## Create symbolic input list
+  u = "{}";
+  for i=1:n_u
+    u = go_append(u,sprintf("u_%i", i));
+  endfor
+		  
+  [A_l,A] = go_diff(f,x);
+  [B_l,B] = go_diff(f,u);
+  [C_l,C] = go_diff(g,x);
+  [D_l,D] = go_diff(g,u);
+
+endfunction

ADDED   mttroot/gino/go_list.m
Index: mttroot/gino/go_list.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_list.m
@@ -0,0 +1,23 @@
+function list = go_list (exp0,exp1,exp2,exp3,exp4,exp5,exp6,exp7,exp8,exp9)
+
+  ## usage:  list = go_list
+  ## (exp0[,exp1,exp2,exp3,exp4,exp5,exp6,exp7,exp8,exp9])
+  ## Creates a list containing the expressions in the argument list
+  ## 
+
+  ## Copyright (C) 2002 by Peter J. Gawthrop
+  if nargin>10
+    error("Only 10  expressions allowed in argument list");
+  endif
+
+  N = nargin;
+
+  list=exp0;
+  for i=1:N-1
+    exp = eval(sprintf("exp%i;",i));
+    list=sprintf("%s, %s", list, exp);
+  endfor
+
+  list = sprintf("{%s}", list);
+
+endfunction

ADDED   mttroot/gino/go_lst_to_matrix.m
Index: mttroot/gino/go_lst_to_matrix.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_lst_to_matrix.m
@@ -0,0 +1,41 @@
+function M = go_lst_to_matrix (L)
+
+  ## usage:  M = go_lst_to_matrix (L)
+  ##
+  ## Converts a list to a matrix
+  ## Assumes list contains equal-length lists as elements
+  ## Not in ginsh
+  ## Copyright (C) 2002 by Peter J. Gawthrop
+
+  n = eval(g_nops(L));
+  m = eval(g_nops(g_op(L,"0")));
+
+  M = "";
+  for i = 1:n
+    M = sprintf("%s[",M);
+    m_i = g_op(L,int2str(i-1));
+    if (eval(g_nops(m_i))!=m)
+      error("All list elements must be lists of same length");
+    endif
+    
+    for j = 1:m
+      m_ij = g_op(m_i,int2str(j-1));
+      if j>1 
+	jsep = ", ";
+      else
+	jsep = "";
+      endif
+      M = sprintf("%s%s%s", M, jsep, m_ij);
+    endfor
+    if i<n 
+      isep=", ";
+    else
+      isep="";
+    endif
+    
+    M = sprintf("%s]%s", M, isep);
+  endfor
+
+  M = sprintf("[%s]",M);
+  
+endfunction

ADDED   mttroot/gino/go_matrix_to_lst.m
Index: mttroot/gino/go_matrix_to_lst.m
==================================================================
--- /dev/null
+++ mttroot/gino/go_matrix_to_lst.m
@@ -0,0 +1,9 @@
+function L = go_matrix_to_lst (M)
+
+  ## usage:  L = go_matrix_to_lst (M)
+  ##
+  ## Converts matrix to list (in ginsh format)
+
+  L = strrep(strrep(M,"[","{"), "]","}");
+
+endfunction