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

  ## usage: [t,y,u,y_c,t_e,y_e,e_e,p_c,p_o] = 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)
  ## Simulate = 0: real thing
  ## Simulate = 1: simulate

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

  ## System
  sys = mtt2sys(Name);		# Create system
  [A,B,C_0,D_0] = sys2ss(sys);	# SS form
  [n_x, n_u, n_y] = abcddim(A,B,C_0,D_0);

  ## 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 constrained 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,:);

    w = ones(n_y,1);;
  endif
  
  if nargin<5
    x_0 = zeros(n_x,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.
  endif

    [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
    cl_poles = eig(A - B*k_x)
    ol_poles = eig(A)
    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;

p_o
  ## Observer design
  G = eye(n_x);		# State noise gain 
  sigma_x = eye(n_x);		# State noise variance
  Sigma = p_o.sigma*eye(n_y)	# Measurement noise variance
  
  if strcmp(p_o.method, "intermittent")
    Ad = expm(A*p_c.delta_ol);		# Discrete-time transition matrix

  overrun = 2;
  Ustar = ppp_ustar (p_c.A_u, n_u, [0:dt:overrun*p_c.delta_ol], 0,0);
  if p_c.integrate		# Integrate Ustar
    disp("Integrating Ustar");
    Ustar = cumsum(Ustar)*dt;
  endif
  
  disp("Writing Ustar.h ...");
  ppp_ustar2h(Ustar); 
  disp("done.");


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

  for j=1:p_c.Iterations
    for k=1:I
      tim=time;			# Timing
      i++;
      if Simulate		# Exact simulation 
	X = x;			# Current state
	t_sim = [1:p_c.N]*dt;	# Simulation time points
	[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
	x = xsi(:,p_c.N);	# Current state (for next time)
	ti  = [(i-1)*p_c.N:i*p_c.N-1]*dt; 
	y_i = yi(1);	# Current output
	t_i = ti(1);
	##X = xsi(:,1);		# Wrong!!
      else			# The real thing
	if strcmp(p_o.method, "remote")
	  [t_i,y_i,u_i,X] = ppp_put_get_X(U); # Remote-state interface

	else
	  [t_i,y_i,u_i] = ppp_put_get(U); # Generic interface to real-time
	endif
      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
      elseif strcmp(p_o.method, "remote")
	## predict from remote state (with zero L)	
	if (ControlType==2)	# Closed-loop
# 	  [x_est y_est y_new e_est] = ppp_int_obs \
# 	      (X,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,zeros(n_x,1));
	  x_est = X; y_est=y_i; y_new=y_i; e_est=0;
	else			# Open-loop
	  [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,zeros(n_x,1));
	endif
	
      endif
      
      ##Control
      if ( length(p_c.Tau_u)==0&&length(p_c.Tau_y)==0 )
	U = K_w*w - K_x*x_est;
      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_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,n_active] = ppp_qp \
	    (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'];
	X_est = [X_est;x_est'];
	y_c = [y_c;(C_c*xsi)'];
	u = [u;ui'];
      else
	t = [t;t_i];
	y = [y;y_i'];
	X_est = [X_est;x_est'];
	u = [u;u_i'];
      endif

      if strcmp(p_o.method, "intermittent")||strcmp(p_o.method, "remote")
	y_e = [y_e; y_new'];
	e_e = [e_e; e_est'];
	t_e = [t_e; t_i];
      endif
      if !Simulate
	delta_comp = time-tim;
	usleep(floor(1e6*(p_c.delta_ol-delta_comp-0.01)));

  
  if strcmp(p_o.method, "continuous")
    t_e = t;
  endif
  
  
  average_ol_sample_interval = (time-tick)/i

  ## Put data on file (so can use for identification)
  filename = sprintf("%s_ident_data.dat",Name);
  eval(sprintf("save -ascii %s t y u",filename));

endfunction