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
@@ -1,7 +1,7 @@
 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)
+      ppp_lin_quad (A,B,C,D,tau,Q,R,augment)
 
   ## 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)
   ##
   ## 
@@ -8,11 +8,16 @@
 
   ## Steady-state Linear Quadratic solution
   ## using Algebraic Riccati equation (ARE)
   [P,A_u,A_w] = ppp_are (A,B,C,D,Q,R);
 
+  ## Augment with a constant term
+  if augment
+    A_u = ppp_aug(0,A_u);
+  endif
+  
   ## 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
@@ -56,10 +56,14 @@
   endif
   
   if !struct_contains(p_c,"T")
     p_c.T = 10.0;			# Last time point.
   endif
+
+  if !struct_contains(p_c,"augment")
+    p_c.augment = 1;		# Augment basis funs with contand
+  endif
   
   if !struct_contains(p_c,"Method")
     p_c.Method = "lq";
   endif
 
@@ -73,11 +77,14 @@
 	p_c.A_w = 0;
       endif
       if !struct_contains(p_c,"A_u")
 	p_c.n_U = n_x;
 	a_u = 2.0;
-	p_c.A_u = laguerre_matrix(p_c.n_U,a_u)
+	p_c.A_u = laguerre_matrix(p_c.n_U,a_u);
+	if p_c.augment		# Put in constant term
+	  A_u = ppp_aug(0,A_u);
+	endif
       endif
     else
       error(sprintf("Method %s not recognised", p_c.Method));
     endif
   endif
@@ -85,12 +92,12 @@
   if !struct_contains(p_o,"x_0")
     p_o.x_0 = zeros(n_x,1);
   endif
   
   if !struct_contains(p_o,"method")
-    p_o.method = "continuous";
-    ##    p_o.method = "intermittent";
+    ##p_o.method = "continuous";
+    p_o.method = "intermittent";
   endif
   
 
   ## Check w.
   [n_w,m_w] = size(w);
@@ -116,14 +123,14 @@
     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] = 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
+      tau = [0:0.1:2.0]*1; # 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,tau,p_c.Q,p_c.R);
-      p_c.A_u = A_u
+	  = ppp_lin_quad (A,B,C,D,tau,p_c.Q,p_c.R,p_c.augment);
+      p_c.A_u = A_u;
     else
       error(sprintf("Control method %s not recognised", p_c.Method));
     endif
 
     ##Sanity check A_u
@@ -130,12 +137,11 @@
     [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
     
-    K_w,w
-    U = K_w*w			# Initial control U
+    U = K_w*w;			# Initial control U
 
     ## Checks
     [ol_zeros, ol_poles] = sys2zp(sys)
     cl_poles = eig(A - B*k_x)
   endif