t_i = ti(1);
      else			# The real thing
	[t_i,y_i,u_i] = ppp_put_get(U); # Generic interface to real-time
      endif

      ## Observer
      if strcmp(p_o.method, "intermittent")
	[x_est y_est y_new, e_est] = ppp_int_obs \
	    (x_est,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
      elseif strcmp(p_o.method, "continuous")
	Ui = U;			# U at sub intervals
	for k = 1:p_c.N
	  [x_est y_est y_new e_est] = ppp_int_obs \
	      (x_est,yi(:,k),Ui,A,B,C,D,p_c.A_u,dt,L);
	  Ui = A_ud'*Ui;
	  y_e = [y_e; y_new'];
	  e_e = [e_e; e_est'];
	endfor
      endif
      
      ##Control
      U = K_w*w - K_x*x_est;

      ## Save data
      if Simulate
	t = [t;ti'];
	y = [y;yi'];
	u = [u;ui'];
      else
	t = [t;t_i];
	y = [y;y_i'];
	u = [u;u_i'];
      endif
      

      if strcmp(p_o.method, "intermittent")
	y_e = [y_e; y_new'];
	e_e = [e_e; e_est'];
	t_e = [t_e; t_i];
      endif

      delta_comp = time-tim;
      usleep(floor(1e6*(p_c.delta_ol-delta_comp-0.01)));
    endfor			# Main loop