Index: mttroot/mtt/lib/control/PPP/ppp_lin_quad.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_lin_quad.m
+++ mttroot/mtt/lib/control/PPP/ppp_lin_quad.m
@@ -1,10 +1,9 @@
-function [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,A_u] = \
+function [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,tau,Q,R)
 
-  ## usage:
-  ## [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,cond_uu] =
+  ## usage:[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,tau,Q,R)
   ##
   ## 
 
   ## Steady-state Linear Quadratic solution
@@ -13,6 +12,7 @@
 
   ## PPP solution
   [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,A_u,A_w,tau,Q,R,P);
 
+A_u
 endfunction

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
@@ -117,12 +117,13 @@
     if strcmp(p_c.Method, "original")
       tau = [10:0.1:11]*(2/a_u);	# Time horizons
       [k_x,k_w,K_x,K_w] = ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,tau); # Design
     elseif strcmp(p_c.Method, "lq") # LQ design
       tau = [0:0.001:1.0]*5; # Time horizons
-      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,y_u,p_c.A_u] \
+      [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,tau,p_c.Q,p_c.R);
+      p_c.A_u = A_u
     else
       error(sprintf("Control method %s not recognised", p_c.Method));
     endif
 
     ##Sanity check A_u
@@ -129,12 +130,12 @@
     [p_c.n_U,M_u] = size(p_c.A_u);
     if (p_c.n_U!=M_u)
       error("A_u must be square");
     endif
     
-    
-    U = K_w*w;			# Initial control U
+    K_w,w
+    U = K_w*w			# Initial control U
 
     ## Checks
     [ol_zeros, ol_poles] = sys2zp(sys)
     cl_poles = eig(A - B*k_x)
   endif