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
@@ -1,6 +1,6 @@
-function [u,U,iterations] = ppp_qp (x,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu)
+function [u,U,iterations] = ppp_qp (x,W,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu,test)
 
   ## usage:  [u,U] = ppp_qp (x,W,J_uu,J_ux,J_uw,Gamma,gamma)
   ## INPUTS:
   ##      x: system state    
   ##      W: Setpoint vector
@@ -22,10 +22,14 @@
 
   if nargin<9
     mu = 0
   endif
 
+  if nargin<10
+    test=0;
+  endif
+  
 
   ## Check the sizes
   n_x = length(x);
 
   [n_U,m_U] = size(J_uu);
@@ -39,11 +43,11 @@
   endif
 
 
   if length(gamma)>0		# Constraints exist: do the QP algorithm
     ## QP solution for weights U	
-    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu);
+    [U,iterations] = qp_mu(J_uu,(J_ux*x - J_uw*W),Gamma,gamma,mu,[],[],0,test);
 
     ##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

Index: mttroot/mtt/lib/control/PPP/ppp_qp_sim.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_qp_sim.m
+++ mttroot/mtt/lib/control/PPP/ppp_qp_sim.m
@@ -1,9 +1,9 @@
 function [T,y,u,X,Iterations] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q,\
 					    Tau_u,Min_u,Max_u,Order_u, \
 					    Tau_y,Min_y,Max_y,Order_y, \
-					    W,x_0,Delta_ol,mu,movie)
+					    W,x_0,Delta_ol,mu,test,movie)
 
   ## usage: [T,y,u,J] = ppp_qp_sim (A,B,C,D,A_u,A_w,t,Q, Tau_u,Min_u,Max_u,Order_u, Tau_y,Min_y,Max_y,Order_y, W,x_0,movie)
   ## Needs documentation - see ppp_ex11 for example of use.
   ## OUTPUTS
   ## T: Time vector
@@ -14,19 +14,23 @@
   
   if nargin<19			# No intermittent control
     Delta_ol = 0;
   endif
 
-  if nargin<20			# No movie
+  if nargin<20			# Mu
     mu = 0;
   endif
 
-  if nargin<21			# No movie
+  if nargin<21
+    test=0
+  endif
+  
+  if nargin<22			# No movie
     movie = 0;
   endif
 
-
+test = test
   ## Check some sizes
   [n_x,n_u,n_y] = abcddim(A,B,C,D);
 
   [n_x0,m_x0] = size(x_0);
   if (n_x0 != n_x)||(m_x0 != 1)
@@ -111,11 +115,11 @@
     
     ## Current Setpoint value
     w = W(:,floor(t/dt)+1);
     
     ## Compute U(t) via QP optimisation
-    [uu, U, iterations] = ppp_qp (x,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu); # Compute U
+    [uu, U, iterations] = ppp_qp (x,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,mu,test); # Compute U
 
     ## Compute the cost (not necessary but maybe interesting)
 #    [J_t] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww); # cost
 #    J = [J J_t];