Index: mttroot/mtt/lib/control/PPP/ppp_nlin.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_nlin.m
+++ mttroot/mtt/lib/control/PPP/ppp_nlin.m
@@ -1,31 +1,32 @@
 function [U, U_all, Error, Y] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras)
 
   ## usage:  [U, U_all, Error, Y] = ppp_nlin (system_name,x_0,par_0,sim,us,w,free,extras)
   ##
   ## 
-
-   if nargin<8
-     extras.criterion = 1e-8;
-     extras.max_iterations = 10;
-     extras.v = 0.1;
-     extras.verbose = 1;
-   endif
-
-   s_system_name = sprintf("s%s", system_name); # Name of sensitivity system
-
-   ## Details
-   [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name));
-   [n_tau,n_us] = size(us);
-
-   ## Checks
-   if (n_us<>n_u)
-     error(sprintf("Inputs (%i) not equal to system inputs (%i)", n_us, n_u));
-   endif
-   
+  
+  if nargin<8
+    extras.criterion = 1e-8;
+    extras.max_iterations = 10;
+    extras.v = 0.1;
+    extras.verbose = 1;
+  endif
+  
+  s_system_name = sprintf("s%s", system_name); # Name of sensitivity system
+  
+  ## Details
+  [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name));
+  [n_tau,n_us] = size(us);
+  
+  ## Checks
+  if (n_us<>n_u)
+    error(sprintf("Inputs (%i)  differenct to system inputs (%i)", n_us, n_u));
+  endif
+    
+  ##Optimise
   [par,Par,Error,Y] = ppp_optimise(s_system_name,x_0,par_0,sim,us,w,free,extras);
-
+  
   U = par(free(:,1));
   U_all = Par(free(:,1),:);
 endfunction