function [t,y,u,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)
  ## Simulate = 0: real thing
  ## Simulate = 1: simulate
  ## Control = 0:  step test
  ## Control = 1:  PPP open-loop
  ## Control = 2:  PPP closed-loop
  ## w is the (constant) setpoint
  ## par_control and par_observer are structures containing parameters
  ## for the observer and controller

  ##Defaults
  if nargin<1			# Default name to dir name
    names = split(pwd,"/");
    [n_name,m_name] = size(names);
    Name = deblank(names(n_name,:));
  endif

  ## System
  sys = mtt2sys(Name);		# Create system
  [A,B,C,D] = sys2ss(sys);	# SS form
  [n_x, n_u, n_y] = abcddim(A,B,C,D); # Dimensions
  
  if nargin<2
    Simulate = 1;
  endif
  
  if nargin<3
    ControlType = 2;
  endif
  
  if nargin<4
    w = ones(n_y,1);;
  endif
  
  if nargin<5
    x_0 = zeros(n_x,1);
  endif
  
  if nargin<6
    p_c.N = 50;
  endif

  if nargin<7
    p_o.sigma = 1e-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 = 2.5;			# Last time point.
  endif

  if !struct_contains(p_c,"augment")
    p_c.augment = 1;		# Augment basis funs with contand
  endif
  
  if !struct_contains(p_c,"Method")
    p_c.Method = "original";
  endif

  if struct_contains(p_c,"Method")
    if strcmp(p_c.Method,"lq") 
      p_c.Q = eye(n_y);
      p_c.R = (0.25^2)*eye(n_u);
      p_c.n_U = n_x;
    elseif strcmp(p_c.Method,"original");
      if !struct_contains(p_c,"A_w")
	p_c.A_w = 0;
      endif
      if !struct_contains(p_c,"A_u")
	p_c.n_U = n_x;
	a_u = 2.0;
	p_c.A_u = laguerre_matrix(p_c.n_U,a_u);
	if p_c.augment		# Put in constant term
	  p_c.A_u = ppp_aug(0,p_c.A_u);
	endif
      endif
    else
      error(sprintf("Method %s not recognised", p_c.Method));
    endif
  endif
  
  if !struct_contains(p_o,"x_0")
    p_o.x_0 = zeros(n_x,1);
  endif
  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
    p_o.method = "intermittent";
  endif
  


  ## Check w.
  [n_w,m_w] = size(w);
  if ( (n_w!=n_y) || (m_w!=1) )
    error(sprintf("ppp_lin_run: w must a column vector with %i elements",n_y));
  endif
  
  ## Initialise
  x_est = p_o.x_0;

  ## Initialise simulation state
  x = x_0;

  if ControlType==0		# Step input
    I = 1;			# 1 large sample
    p_c.delta_ol = p_c.T	# I
    K_w = zeros(p_c.n_U,n_y);
    K_w(1,1) = 1;
    K_w(2,1) = -1;
    K_x = zeros(p_c.n_U,n_x);
    U = K_w*w;			# Initial control U
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")
      tau = [10:0.1:11]*(2/a_u);	# Time horizons
      [k_x,k_w,K_x,K_w] = ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design
      tau = [0:0.1:2.0]*1; # Time horizons
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
	  = ppp_lin_quad (A,B,C,D,tau,p_c.Q,p_c.R,p_c.augment);
      p_c.A_u = A_u;
    else
      error(sprintf("Control method %s not recognised", p_c.Method));
    endif

    ##Sanity check A_u
    [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
    U = K_w*w;			# Initial control U

    ## Checks
    [ol_zeros, ol_poles] = sys2zp(sys)
    cl_poles = eig(A - B*k_x)
  endif

  ## Short sample interval
  dt = p_c.delta_ol/p_c.N;

  ## 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
    if (ControlType==2)		# 
      [L, M, P, obs_poles] = dlqe(Ad,G,C,sigma_x,Sigma);
    else
      L = zeros(n_x,n_y);
      obs_poles = eig(Ad);
    endif
  elseif strcmp(p_o.method, "continuous")
    Ad = expm(A*dt);		# Discrete-time transition matrix
    A_ud = expm(p_c.A_u*dt);	# Discrete-time input transition
    if (ControlType==2)		# 
      [L, M, P, obs_poles] = dlqe(Ad,G,C,sigma_x,Sigma);
    else
      L = zeros(n_x,n_y);
      obs_poles = eig(Ad);
    endif
  else
    error(sprintf("Observer method ""%s"" unknown", p_o.method));
  endif
  
  ## Display the poles
  obs_poles

  ## Write the include file for the real-time function
  ## Use double length to allow for overuns
  disp("Writing Ustar.h");
  overrun = 2;
  ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:overrun*p_c.delta_ol], 0,0)); 


  ## Control loop
  y = [];
  u = [];
  t = [];
  y_e = [];
  t_e = [];
  e_e = [];
  tick = time;
  i=0;
  for j=1:10
    for k=1:I
      tim=time;			# Timing
      i++
      if Simulate		# Exact simulation 
	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);
      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
    w = -w;
  endfor 			# Outer loop

  if !Simulate
    ppp_put_get(0*U); 		# Reset to zero
  endif

  
  if strcmp(p_o.method, "continuous")
    t_e = t;
  endif
  
  
  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