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  ##Defaults
  if nargin<1			# Default name to dir name
    names = split(pwd,"/");
    [n_name,m_name] = size(names);
    Name = deblank(names(n_name,:));
  endif

  if nargin<6
    p_c.N = 50;
  endif

  if nargin<7
    p_o.sigma = 1e-1;
  endif

  ## System
  sys = mtt2sys(Name);		# Create system
  [A,B,C,D] = sys2ss(sys);	# SS form
  [A,B,C_0,D_0] = sys2ss(sys);	# SS form

  ## Extract matrices for controlled and constrained outputs.
  if !struct_contains(p_c,"I_0") # Indices for controlled outputs
    p_c.I_0 = 1:n_y
  endif
  if !struct_contains(p_c,"I_1") # Indices for constarined outputs
    p_c.I_1 = 1:n_y
  endif

  C = C_0(p_c.I_0,:)
  C_c = C_0(p_c.I_1,:);
  D = D_0(p_c.I_0,:)
  D_c = D_0(p_c.I_1,:);
  [n_x, n_u, n_y] = abcddim(A,B,C,D); # Dimensions
  [n_x, n_u, n_y_c] = abcddim(A,B,C_c,D_c); # Dimensions
  


  if nargin<2
    Simulate = 1;
  endif
  
  if nargin<3
    ControlType = 2;
  endif
  
  if nargin<4
    w = ones(n_y,1);;
  endif
  
  if nargin<5
    x_0 = zeros(n_x,1);
  endif
  
  if nargin<6
    p_c.N = 50;
  endif

  if nargin<7
    p_o.sigma = 1e-1;
  endif

  if !struct_contains(p_c,"delta_ol")
    p_c.delta_ol = 0.5;	# OL sample interval
  endif
  
  if !struct_contains(p_c,"T")
    p_c.T = 10;			# Last time point.
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  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
    p_o.method = "intermittent";
  endif
  


  ## Check w.
  [n_w,m_w] = size(w);
  if ( (n_w!=n_y) || (m_w!=1) )
    error(sprintf("ppp_lin_run: w must a column vector with %i elements",n_y));
  endif
  
  ## Initialise
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    ##Sanity check A_u
    [p_c.n_U,M_u] = size(p_c.A_u);
    if (p_c.n_U!=M_u)
      error("A_u must be square");
    endif

    ## Checks
    [ol_zeros, ol_poles] = sys2zp(sys)
    cl_poles = eig(A - B*k_x)
    t_max = 1/min(abs(cl_poles))
    t_min = 1/max(abs(cl_poles))
  endif

  
  ## Initial control U
  U = zeros(p_c.n_U,1)	


  ## Short sample interval
  dt = p_c.delta_ol/p_c.N;

  ## Observer design
  G = eye(n_x);		# State noise gain 
  sigma_x = eye(n_x);		# State noise variance
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      else
	## Input constraints 
	[Gamma_u, gamma_u] = \
	    ppp_input_constraints(p_c.A_u,p_c.Tau_u,p_c.Min_u,p_c.Max_u);
	
	## Output constraints
	[Gamma_y,gamma_y] = \
	    ppp_output_constraints(A,B,C,D,x_est,p_c.A_u,\
	    ppp_output_constraints(A,B,C_c,D_c,x_est,p_c.A_u,\
				   p_c.Tau_y,p_c.Min_y,p_c.Max_y);
	
	## Composite constraints - t=0
	Gamma = [Gamma_u; Gamma_y];
	gamma = [gamma_u; gamma_y];
	
	[u_qp,U] = ppp_qp \
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