function [rr,ss,kon,clw,clu0,s,ds,du]=lqexuni(b,a,k,nstep,qur,qy,ql,Rx,Sx)
%
%pridana penalizace dqy a dqu
%
% [rr,ss,kon,clw,clu0,s,ds,du]=lqexuni(b,a,k,nstep,qur,dqy,dqu,s0)
%
  na=max(size(a))-1;
  nb=max(size(b));
  m =nb+na + 3;
% if (length(a) ~= n+1) error('incorrect dimension of parameters'); end
% if (length(b) ~= n+1) error('incorrect dimension of parameters'); end
      w=1; 
msR=max(size(Rx));
msS=max(size(Sx));
if msR > nb, error('incorrect dimension of fixed controller'); end
if msS >  na+1, error('incorrect dimension of fixed controller'); end

 [pr,str]= abd2prei(b,a,k);
  [s,ds] = makese(str,1000);
  [dnz,don]= makedv(pr);
%  th= abd2the(n,b,a,k);
   th=pr(nb,:);
  qu=zeros(size(th));qdy=qu;dqy(1)=qu(1);; qss=qu;qss(1:msR) = Rx;;qu(1)=1;
  qss(nb+1: nb+msS-1) =Sx(2:msS);
 % qdy(nb+1)=1;
  qss(m-1)= - sum(Sx);
  qu(m)=-1;
  h=s*pr;
  [mm,nn]= size(h);
  hn= zeros(mm+1,nn); dn=eye(mm+1);
  [hu,hux,hxx,du,dx]= decomie(str,hn,dn);
  hux(1)=1;
  for i=1:nstep
     rtmultp(h,s,pr,dnz,don); 
     rtrefor(h,ds,hn,dn);
     xx=th;xx(1)=th(1); xx(m-1) = -w; dxx=qy;dxx(1)=qy(1);                         % pen y-w
     rtreduc(hn,dn,xx,dxx);
     xx=qu;dxx=qur;xx(1)=qu(1);dxx(1)=qur(1);                         %pen u-u0
     rtreduc(hn,dn,xx,dxx);
     xx=qss;  dxx=ql;xx(1)=qss(1);dxx(1)=ql(1);                           %pen dqy
     rtreduc(hn,dn,xx,dxx);
     rtdecom(hn,dn,hu,hux,s,du,ds);
  end  
 rr=hux(1:nb);ss=hux(nb:na +nb);kon=hux(m-2);ss(1)=0;
 clw=hux(m-1);
% clw=- sqrt((dqy +qur)/du);
 clu0= hux(m);