if nargin<3
    i_par = []
  else
    i_par = ppp_indices (par_names,sympar,sympars); # Parameters
  endif
  

  if extras.visual		# Do some simulations
    ## Do some simulations to check things out
    ## System itself
    par = ${sys}_numpar;
    x_0_ol = ${sys}_state(par);
    [y_ol,x_ol, t_ol] =  ${sys}_sim(x_0_ol, par, simpar, ones(1,n_u));
    simpar_OL = simpar;
    simpar_OL.last = simpars.last;
    [y_OL,x_OL, t_OL] =  ${sys}_sim(x_0_ol, par, simpar_OL, ones(1,n_u));

    pars = s${sys}_numpar;
    x_0_ppp = s${sys}_state(pars);
    [y_ppp,y_par,x_ppp, t_ppp] =  s${sys}_ssim(x_0_ppp, pars, simpars, ones(1,n_u));

    simpar_PPP = simpars;
    simpar_PPP.first = simpar.first;
    [y_PPP,y_par,x_PPP, t_PPP] =  s${sys}_ssim(x_0_ppp, pars, simpar_PPP, ones(1,n_u));

    ## Basis functions
    Us = ppp_ustar(A_u,1,t_OL',0,0)';


  if extras.visual		#Show some graphs
    figure(2); 	
    grid; title("Outputs of ${sys}_sim and s${sys}_ssim");
    plot(t_ol,y_ol, '*', t_ppp, y_ppp, '+', t_OL, y_OL, t_PPP, y_PPP);

    ## Basis functions
    Us = ppp_ustar(A_u,1,t_OL',0,0)';

    figure(3); 	
    grid; title("Basis functions");
    plot(t_OL, Us);

  endif



  ## Do it
  [y,u,t,p,U,t_open,t_ppp,t_est,its_ppp,its_est] \
  [y,u,t,P,U,t_open,t_ppp,t_est,its_ppp,its_est] \
      = ppp_nlin_run ("${sys}",i_ppp,i_par,A_u,w_s,N,Q,extras);

  ## Compute values at ends of ol intervals
  T_open = cumsum(t_open);
  T_open = T_open(1:length(T_open)-1); # Last point not in t
  j=[];
  for i = 1:length(T_open)
    j = [j; find(T_open(i)*ones(size(t))==t)];
  endfor
  y_open = y(j,:);
  u_open = u(j,:);

  ## Plots

    gset nokey
    gset nogrid
    gset format x "%i"
    gset format x "%4.1f"
    gset format y "%4.1f"
    gset term fig monochrome portrait fontsize 20 size 20 20 metric \
	     thickness 4
    gset output "${sys}_nppp.fig"

    title("");
    grid;
    xlabel("Time (s)");
    ylabel("u");
    subplot(2,1,2); plot(t,u,'-',  T_open, u_open,"^");  
    grid;
    ylabel("y");
    subplot(2,1,1); plot(t,y,'-', T_open, y_open,"^"); 

    oneplot;
    gset output "${sys}_nppp.basis.fig"
    title("");
    xlabel("Time (s)");
    ylabel("Basis functions");
    plot(t_OL, Us);


    ## Create plot against time
    TTT = [ [0;T_open] [T_open; last] ]';
    TT = TTT(:);

    [n,m] = size(P);
    if m>0
      P = P(1:n-1,:);  # Loose last point
      PP = [];
      for j=1:m
        pp = [P(:,j) P(:,j)]';
        PP = [PP pp(:)];
      endfor

      oneplot;
      gset output "${sys}_nppp.par.fig"
      title("");
      xlabel("Time (s)");
      ylabel("Parameters");
      plot(TT,PP);
    endif

    [n,m] = size(U);
    if m>0    oneplot;
      gset output "${sys}_nppp.U.fig"
      title("");
      xlabel("Time (s)");
      ylabel("U");
      [n,m] = size(U);
      U = U(1:n-1,:);  # Loose last point
      UU = [];
      for j=1:m
        uu = [U(:,j) U(:,j)]';
        UU = [UU uu(:)];
      endfor
      plot(TT,UU);
    endif

endfunction

EOF
}

make_nppp_numpar() {

        ## Make the numpar stuff
        make_nppp_numpar;
	;;
    m)
        ## Make the code
        make_nppp;
	;;
    dat2|fig)
    ## The dat2 language (output data) & fig file
    dat2|fig|basis.fig|par.fig|U.fig)
        ## The dat2 language (output data) & fig file
        rm ${sys}_nppp*.fig
	make_dat2; 
	;;
    gdat)
        cp ${dat2_file} ${dat2s_file} 
	dat22dat ${sys} ${rep} 
        dat2gdat ${sys} ${rep}
	;;
    ps|basis.ps|par.ps|U.ps)
        figs=`ls ${sys}_nppp*.fig | sed -e 's/\.fig//'`
#    fig)
#	gdat2fig ${sys}_${rep}
        echo $figs
	for fig in ${figs}; do
#	;;
    ps)
	fig2dev -Leps ${sys}_${rep}.fig > ${sys}_${rep}.ps
            fig2dev -Leps ${fig}.fig > ${fig}.ps
	done
	;;

    view)
	pss=`ls ${sys}_nppp*.ps` 
	echo Viewing ${sys}_${rep}.ps
        gv ${sys}_${rep}.ps&
        echo Viewing ${pss}
        for ps in ${pss}; do
          gv ${ps}&
	done
	;;
    *)
	echo Language ${lang} not supported by ${rep} representation
        exit 3
esac