if !struct_contains(p_c,"Method")
    p_c.Method = "lq";
  endif

  if struct_contains(p_c,"Method")
    if strcmp(p_c.Method,"lq") 
      p_c.Q = eye(n_y);
      p_c.R = (0.5^2)*eye(n_u);
      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 = 1.0;
	a_u = 2.0;
	p_c.A_u = laguerre_matrix(p_c.n_U,a_u)
      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";
    ##    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));

  t_e = [];
  e_e = [];
  tick = time;
  for i=1:I
    i
    tim=time;			# Timing
    if Simulate			# Exact simulation 
      t_sim = [0:p_c.N]*dt;	# Simulation time points
      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+1);	# Current state (for next time)
      y_now = yi(:,p_c.N+1);	# Current output
      x = xsi(:,p_c.N);	# Current state (for next time)
      y_now = yi(:,p_c.N);	# Current output
      ti  = [(i-1)*p_c.N:i*p_c.N-1]*dt; 
    else			# The real thing
      to_rt(U');		# Send U
      data = from_rt(p_c.N);	# Receive data
      [yi,ui] = convert_data(data); # And convert from integer format
      [yi,ui,ti] = convert_data(data); # And convert from integer format
      y_now = yi(:,p_c.N);	# Current output
    endif

    sample_time = (time-tim)/p_c.N
    tim = time;
    ## Observer
    if strcmp(p_o.method, "intermittent")
      [x_est y_est e_est] = ppp_int_obs \
	  (x_est,y_now,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 e_est] = ppp_int_obs \
	  (x_est,yi(:,k+1),Ui,A,B,C,D,p_c.A_u,dt,L);
      Ui = A_ud*Ui;
      y_e = [y_e; y_est'];
      e_e = [e_e; e_est];
      for k = 1:p_c.N
	[x_est y_est 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_est'];
	e_e = [e_e; e_est];
      endfor
    endif
    
    ##Control
    ##U = K_w*w - K_x*x_est;
    U = expm(p_c.A_u*(p_c.delta_ol))*U
    U = K_w*w - K_x*x_est;

    ## Save data
    ti  = [(i-1)*p_c.N:i*p_c.N-1]*dt; 
    t = [t;ti'];
    y = [y;yi(:,1:p_c.N)'];
    u = [u;ui(:,1:p_c.N)'];
    y = [y;yi'];
    u = [u;ui'];
    sample_time = (time-tim)/p_c.N

    if strcmp(p_o.method, "intermittent")
      y_e = [y_e; y_est'];
      e_e = [e_e; e_est];
      t_e = [t_e; (i*p_c.N)*dt];
    endif
    


    overrun = time-tim
    dt
  endfor			# Main loop

  if strcmp(p_o.method, "continuous")
    t_e = t;
  endif
  
  
  sample_interval = (time-tick)/(I*p_c.N)

  ## 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));


  ## Plot
  gset nokey
  title("");
  boxed=0;
  monochrome=1;
  grid;
  xlabel("t");
#   ## Plot
#   gset nokey
#   title("");
#   boxed=0;
#   monochrome=1;
#   grid;
#   xlabel("t");

  ylabel("y");
  figure(1);plot(t,y, t_e,y_e,"+");
#   ylabel("y");
#   figure(1);plot(t,y, t_e,y_e,"+");

  ylabel("u");
  figure(2);plot(t,u);
#   ylabel("u");
#   figure(2);plot(t,u);

  ylabel("e");
  figure(3);plot(t_e,e_e);
#   ylabel("e");
#   figure(3);plot(t_e,e_e);


endfunction