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);
      else			# The real thing
	if strcmp(p_o.method, "remote")
	  [t_i,y_i,X] = ppp_put_get_X(U); # Remote-state interface
	  u_i = X(3);		# Integrated control is third state
	else
	  [t_i,y_i,u_i] = ppp_put_get(U); # Generic interface to real-time
	endif