There are a number of posts on this forum suggesting that even if your data were not collected under the Robust Design, you can use these models by adding a dummy secondary occasion (a column of 0's) to each primary occasion, and set p2=c=0 for the dummy occasions.
Does anyone know of a reference justifying this approach, particularly using a dummy secondary occasion for all primary occasions? I found 1 paper using this approach for some primary periods http://onlinelibrary.wiley.com/doi/10.1002/jwmg.380/full, but I'm wondering about the theory behind its validity.