Index: mttroot/mtt/lib/control/PPP/ppp_int_obs.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_int_obs.m
+++ mttroot/mtt/lib/control/PPP/ppp_int_obs.m
@@ -1,6 +1,6 @@
-function [x_p,y_p,error] = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)
+function [x_p,y_p,y_new,error] = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)
 
   ## usage: x_new = ppp_int_obs (x,y,U,A,B,C,D,A_u,delta,L)
   ##
   ## Intermittent observer for PPP
   ##
@@ -8,10 +8,15 @@
   ## U PPP control weights
   ## A,B,C,D System matrices
   ## A_u PPP basis matrix
   ## delta time step
   ## L Observer gain
+  ## x_p, y_p predicted estimated state and output
+  ## y_new corrected estimated current output
+  ## error corresponding error
+
+  ## Copyright (C) 2003 by Peter J. Gawthrop
 
   ## Sanity check
   [n_x,n_u,n_y] = abcddim(A,B,C,D);
 
   if nargin<10
@@ -19,10 +24,11 @@
   endif
   
   ## Corrector (on current value of output)
   error = (C*x-y);
   x_new = x - L*error;
+  y_new = C*x_new;
 
   ## Predictor (predicts Delta_OL ahead)
   [y_p,us,x_p] = ppp_ystar (A,B,C,D,x_new,A_u,U,delta);
 
 endfunction

Index: mttroot/mtt/lib/control/PPP/ppp_lin_run.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_lin_run.m
+++ mttroot/mtt/lib/control/PPP/ppp_lin_run.m
@@ -209,20 +209,20 @@
 	[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 e_est] = ppp_int_obs \
+	[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 e_est] = ppp_int_obs \
+	  [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_est'];
-	  e_e = [e_e; e_est];
+	  y_e = [y_e; y_new'];
+	  e_e = [e_e; e_est'];
 	endfor
       endif
       
       ##Control
       U = K_w*w - K_x*x_est;
@@ -238,11 +238,11 @@
 	u = [u;u_i'];
       endif
       
 
       if strcmp(p_o.method, "intermittent")
-	y_e = [y_e; y_est'];
+	y_e = [y_e; y_new'];
 	e_e = [e_e; e_est'];
 	t_e = [t_e; t_i];
       endif
 
       delta_comp = time-tim;