## Control = 0:  step test
  ## Control = 1:  PPP open-loop
  ## Control = 2:  PPP closed-loop
  ## w is the (constant) setpoint
  ## par_control and par_observer are structures containing parameters
  ## for the observer and controller

  disp("Special version");

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