opttime(sys,modal,varargin)

function [sys P Et Po Pc output] = opttime(sys,modal,varargin)
%OPTTIME	Computes a local time optimized OCLP for a given OCCD system.
%
%	 [OSYS,P,Et,Pctr,Po] = OPTTIME(SYS) where SYS is the structure array (as
%    if created by OCSET), returns:
%		OSYS is the same as SYS, but now with the optimal open and 
%        closed-loop parameters and the locally optimal terminal time.
%		P is the time optimized performance.
%		Et is the terminal energy.
%		Po is the open-loop energy.
%		Pc is the closed-loop energy.
%
%    [OSYS,P,Et,Pctr,Po] = OPTTIME(SYS,modal) returns the performance in
%    each mode rather than total performance.
%
%    OPTTIME(SYS,modal,P1,V1,P2,V2,...) uses the given parameter-value pairs 
%    in options used in the call to FMINSEARCH.
%
%    [OSYS,P,Et,Pctr,Po,output] = OPTTIME(...) gives the output structure
%    returned by the call to FMINSEARCH.
%
%    OPTTIME uses the values in SYS.CP, SYS.CD, and SYS.TO as intial guesses.

if nargin<2
    modal = false;
end

% Set default options
opt = optimset('TolX',1e-1,'TolFun',1e-5,'disp','none','MaxFunEvals',300);

if nargin>3
    % Apply given parameter/value pairs
    opt = optimset(opt, varargin{:});
end

Xo = sys.To;
if any(sys.Type == [1 2 4 5])
   % Has P control
   Xo = [Xo;sys.cp];
else    
    sys.cp = 0;
end
if any(sys.Type == [2 3 5 6])
    % Has D control
    Xo = [Xo; sys.cd];
else
    sys.cd = 0;   
end

if ~any(sys.Type==[1 2 3 7])
    %Has open-loop control
    sys.a = zeros(size(sys.xo));
    sys.b = zeros(size(sys.xo));
end

% Compute optimal closed-loop parameters and terminal time
[C ignore ignore output] = fminsearch(@(X)OOLPx(X, sys), Xo,opt);

sys.To = C(1);
if any(sys.Type == [1 2 4 5])
    sys.cp = C(2);
end
if any(sys.Type == [2 3 5 6])
    sys.cd = C(end);
end

% Compute corresponding optimal open-loop performance and parameters
if any(sys.Type==[1 2 3 7])
    [sys P Et Po Pc] = oolp(sys,modal);
else
    [P Et Po Pc] = performance(sys,modal);
end



function P = OOLPx(C, sys)
% Objective function for optimization
sys.To = C(1);
if any(sys.Type == [1 2 4 5])
    sys.cp = C(2);
end
if any(sys.Type == [2 3 5 6])
    sys.cd = C(end);
end
if any(sys.Type==[1 2 3 7])
    [ignore P] = oolp(sys);
else
    P = performance(sys);
end