QCAT by Ola Harkegard

Quadratic Programming Control Allocation Toolbox (control allocation, constrained control, flight control)

alloc_sim(method,B,v,plim,rlim,T,varargin)

ca2lq(B,R2,Wu)

cgi_alloc(B,v,umin,umax,Wv,Wu,ud,imax)

Control of Spacecraft and Aircraft by Arthur Bryson

Companion Software (aircraft, flight control, control limits)

[FD,GD,AD,ND,BD]=cvrt(F,G,A,N,B,TS)

[FD,GD,AD,ND,BD]=cvrt(F,G,A,N,B,TS) % Table D.2

[FD,GD,SC,RMSY,RMSU,EV]=mimodcom(F,G,HY,A,N,B,GA,H,Q,V,T)