function [t,y,u,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
function [t,y,u,y_c,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)

  ## usage: [t,y,u,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
  ##
  ## 
  ## Linear closed-loop PPP of lego system (and simulation)
  ##
  ## Name: Name of system (in mtt terms)

  
  disp("Writing Ustar.h");
  ppp_ustar2h(Ustar); 


  ## Control loop
  y = [];
  y_c = [];
  u = [];
  t = [];
  y_e = [];
  t_e = [];
  e_e = [];
  tick = time;
  i=0;

	    (x_est,w,J_uu,J_ux,J_uw,Us0,Gamma,gamma,1e-6,1);
      endif

      ## Save data
      if Simulate
	t = [t;ti'];
	y = [y;yi'];
	y_c = [y_c;(C_c*xsi)'];
	u = [u;ui'];
      else
	t = [t;t_i];
	y = [y;y_i'];
	u = [u;u_i'];
      endif