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
@@ -1,6 +1,6 @@
-function [t,y,u,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
+function [t,y,u,y_c,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
 
   ## usage: [t,y,u,t_e,y_e,e_e] = ppp_lin_run (Name,Simulate,ControlType,w,x_0,p_c,p_o)
   ##
   ## 
   ## Linear closed-loop PPP of lego system (and simulation)
@@ -244,10 +244,11 @@
   ppp_ustar2h(Ustar); 
 
 
   ## Control loop
   y = [];
+  y_c = [];
   u = [];
   t = [];
   y_e = [];
   t_e = [];
   e_e = [];
@@ -307,10 +308,11 @@
 
       ## Save data
       if Simulate
 	t = [t;ti'];
 	y = [y;yi'];
+	y_c = [y_c;(C_c*xsi)'];
 	u = [u;ui'];
       else
 	t = [t;t_i];
 	y = [y;y_i'];
 	u = [u;u_i'];