Index: mttroot/mtt/lib/control/PPP/ppp_nlin_run.m
==================================================================
--- mttroot/mtt/lib/control/PPP/ppp_nlin_run.m
+++ mttroot/mtt/lib/control/PPP/ppp_nlin_run.m
@@ -58,20 +58,22 @@
   T_ol_0 = simpar.last;		# The initial specified interval
   n_t = round(simpar.last/simpar.dt); # Corresponding length
   x_0 = eval(sprintf("%s_state(par);", system_name));
   x_0_model = x_0;
   [n_x,n_y,n_u] = eval(sprintf("%s_def;", system_name));
-
+  [n_par,m_par] = size(i_par);
   if nargin<8
     Q = ones(n_y,1);
   endif
  
   ## Sensitivity system details -- defines moving horizon simulation
   simpars = eval(sprintf("%s_simpar;", s_system_name));
   pars = eval(sprintf("%s_numpar;", s_system_name));
   x_0s = eval(sprintf("%s_state(pars);", s_system_name));
   x_0_models = x_0s;
+
+  p = []; # Initialise saved parameters
 
   ## Times
   ## -- within opt horizon
   n_Tau = round(simpars.last/simpars.dt);
   dtau = simpars.dt;
@@ -85,14 +87,12 @@
   y = [];
   x = [];
   u = [];
   t = [];
 
-  p = [];
 
   t_last = 0;
-  UU = [];
   UU_l =[];
   UU_c =[];
   
   t_ppp = [];
   t_est = [];
@@ -102,10 +102,13 @@
   x_nexts = zeros(2*n_x,1);
 
   ## Initial U is zero
   [n_U,junk] = size(A_u);
   U = zeros(n_U,1);
+
+  ## Initialise saved U
+  UU = [];
 
   ## Create input basis functions
   u_star_tau = ppp_ustar(A_u,1,Tau',0,0,n_u-n_U);
 	
   ## Reverse time to get "previous" U
@@ -123,10 +126,18 @@
     T_total = simpar.last;
   endif
   
   for i = 0:N_ol		# Main loop 
     printf("%i",i);
+    UU = [UU; U'];		# Save control U
+    
+    if n_par>0
+      par_est = pars(i_par(:,1));
+      p = [p; par_est'];		# Save up the estimated parameters
+    endif
+    
+
     if (extras.simulate==1)
       [y_ol,u_ol] = ppp_RT_sim(U); # Simulate
     else
       [y_ol,u_ol] = ppp_RT(U);	# Real thing
     endif
@@ -145,13 +156,10 @@
       ## Generate input to actual system
       u_star_t = ppp_ustar(A_u,1,t_ol',0,0,n_u-n_U);
 
       ## Tune parameters/states
       if (estimating_parameters==1)
-	## Save up the estimated parameters
-	par_est = pars(i_par(:,1));
-	p = [p; par_est'];
 
 	## Set up according to interval length
 	if (T_ol>T_ol_0) ## Truncate data
 	  simpar_est.last = T_ol_0;
 	  y_est = y_ol(1:n_t+1,:);
@@ -243,11 +251,10 @@
 
       ## Save up data
       y_ol = y_ol(1:n_ol,:);
       y = [y; y_ol];
       u = [u; u_ol];
-      UU = [UU; U'];
       t = [t; t_ol+t_last*ones(n_ol,1) ];
       t_last = t_last + T_ol;
 
     endif