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
@@ -42,23 +42,23 @@
   if nargin<5
     x_0 = zeros(n_x,1);
   endif
   
   if nargin<6
-    p_c.N = 5;
+    p_c.N = 10;
   endif
 
   if nargin<7
     p_o.sigma = 1e-1;
   endif
 
   if !struct_contains(p_c,"delta_ol")
-    p_c.delta_ol = 0.5;	# OL sample interval
+    p_c.delta_ol = 1.0;	# OL sample interval
   endif
   
   if !struct_contains(p_c,"T")
-    p_c.T = 5.0;			# Last time point.
+    p_c.T = 10.0;			# Last time point.
   endif
   
   if !struct_contains(p_c,"Method")
     p_c.Method = "lq";
   endif
@@ -152,12 +152,14 @@
 
   ## Short sample interval
   dt = p_c.delta_ol/p_c.N;
 
   ## Write the include file for the real-time function
+  ## Use double length to allow for overuns
   disp("Writing Ustar.h");
-  ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:p_c.delta_ol], 0,0)); 
+  overrun = 2;
+  ppp_ustar2h(ppp_ustar (p_c.A_u, n_u, [0:dt:overrun*p_c.delta_ol], 0,0)); 
 
 
   ## Control loop
   y = [];
   u = [];
@@ -166,14 +168,15 @@
   t_e = [];
   e_e = [];
   tick = time;
   for i=1:I
     i
+    tim=time;			# Timing
     if Simulate			# Exact simulation 
       t_sim = [0:p_c.N]*dt;	# Simulation time points
       [yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
-      x = xsi(:,p_c.N+1);	# Current state
+      x = xsi(:,p_c.N+1);	# Current state (for next time)
       y_now = yi(:,p_c.N+1);	# Current output
     else			# The real thing
       to_rt(U');		# Send U
       data = from_rt(p_c.N);	# Receive data
       [yi,ui] = convert_data(data); # And convert from integer format
@@ -192,10 +195,12 @@
     y = [y;yi(:,1:p_c.N)'];
     u = [u;ui(:,1:p_c.N)'];
     y_e = [y_e; y_est'];
     t_e = [t_e; (i*p_c.N)*dt];
     e_e = [e_e; e_est];
+    sample_time = (time-tim)/p_c.N
+    dt
   endfor			# Main loop
   
   sample_interval = (time-tick)/(I*p_c.N)
 
   ## Put data on file (so can use for identification)