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
@@ -146,11 +146,12 @@
     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";
+    p_o.method = "remote";
   endif
   
 
   ## Check w.
   [n_w,m_w] = size(w);
@@ -222,10 +223,13 @@
       [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, "remote")
+    L = zeros(n_x,n_y);
+    obs_poles = [];
   else
     error(sprintf("Observer method ""%s"" unknown", p_o.method));
   endif
   
   ## Display the poles
@@ -265,11 +269,16 @@
 	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
+	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
       endif
 
       ## Observer
       if strcmp(p_o.method, "intermittent")
 	[x_est y_est y_new, e_est] = ppp_int_obs \
@@ -281,10 +290,14 @@
 	      (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
+      elseif strcmp(p_o.method, "remote")
+	## predict from remote state (with zero L)
+	[x_est y_est y_new e_est] = ppp_int_obs \
+	      (X,y_i,U,A,B,C,D,p_c.A_u,p_c.delta_ol,L);
       endif
       
       ##Control
       if ( (p_c.Tau_u==[])&&(p_c.Tau_y==[]) )
 	U = K_w*w - K_x*x_est;