endif
  if !struct_contains(p_c,"I_1") # Indices for constarined 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 = D_0(p_c.I_0,:);
  D_c = D_0(p_c.I_1,:);
  [n_x, n_u, n_y] = abcddim(A,B,C,D); # Dimensions
  [n_x, n_u, n_y_c] = abcddim(A,B,C_c,D_c); # Dimensions


  if nargin<2
    Simulate = 1;

  
  if !struct_contains(p_o,"method")
    ##p_o.method = "continuous";
    ##p_o.method = "intermittent";
    p_o.method = "remote";
  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
    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);
  else
    I = ceil(p_c.T/p_c.delta_ol) # Number of large samples
    if strcmp(p_c.Method, "original")
      [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
    elseif strcmp(p_c.Method, "lq") # LQ design
      [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,p_c.tau,p_c.Q,p_c.R,p_c.A_e);
      p_c.A_u = A_u
      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

    ## Checks
    cl_poles = eig(A - B*k_x)
    t_max = 1/min(abs(cl_poles))
    t_min = 1/max(abs(cl_poles))
    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)	
  U = zeros(p_c.n_U,1)	;

  ## 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

	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);
	##X = xsi(:,1);		# Wrong!!
      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