Develoved for my ongoing research activities in the Contraint Control area, I am currently collecting my (Matlab-) Software in a toolbox named "cc". The software packege is still under development and/or revision.
Do not hesitate to contact me, if you're interested in this software. Current version is 1.1b2 from August 2001

Sneak Preview on what's available so far:

• Manual (html)
• Manual (pdf)
• Download Software (GNU tarball: gtar -czf cc.tgz cc-YYMM)
• cc homepage @ The Mathworks' File Exchange (contains same tarball))