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
@@ -42,11 +42,11 @@
     p_c.I_1 = 1:n_y
   endif
 
   C = C_0(p_c.I_0,:)
   C_c = C_0(p_c.I_1,:);
-  D = D_0(p_c.I_0,:)
+  D = D_0(p_c.I_0,:);
   D_c = D_0(p_c.I_1,:);
   [n_x, n_u, n_y] = abcddim(A,B,C,D); # Dimensions
   [n_x, n_u, n_y_c] = abcddim(A,B,C_c,D_c); # Dimensions
 
 
@@ -150,11 +150,10 @@
     ##p_o.method = "continuous";
     ##p_o.method = "intermittent";
     p_o.method = "remote";
   endif
   
-
   ## Check w.
   [n_w,m_w] = size(w);
   if ( (n_w!=n_y) || (m_w!=1) )
     error(sprintf("ppp_lin_run: w must a column vector with %i elements",n_y));
   endif
@@ -165,11 +164,11 @@
   ## Initialise simulation state
   x = x_0;
 
   if ControlType==0		# Step input
     I = 1;			# 1 large sample
-    p_c.delta_ol = p_c.T	# I
+    p_c.delta_ol = p_c.T;	# I
     K_w = zeros(p_c.n_U,n_y);
     K_w(1,1) = 1;
     K_w(2,1) = -1;
     K_x = zeros(p_c.n_U,n_x);
   else
@@ -178,11 +177,11 @@
       [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww] =\
 	  ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,p_c.tau); # Design
     elseif strcmp(p_c.Method, "lq") # LQ design
       [k_x,k_w,K_x,K_w,Us0,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww,A_u] \
 	  = ppp_lin_quad (A,B,C,D,p_c.tau,p_c.Q,p_c.R,p_c.A_e);
-      p_c.A_u = A_u
+      p_c.A_u = A_u;
     else
       error(sprintf("Control method %s not recognised", p_c.Method));
     endif
 
     ##Sanity check A_u
@@ -191,16 +190,16 @@
       error("A_u must be square");
     endif
 
     ## Checks
     cl_poles = eig(A - B*k_x)
-    t_max = 1/min(abs(cl_poles))
-    t_min = 1/max(abs(cl_poles))
+    t_max = 1/min(abs(cl_poles));
+    t_min = 1/max(abs(cl_poles));
   endif
   
   ## Initial control U
-  U = zeros(p_c.n_U,1)	
+  U = zeros(p_c.n_U,1)	;
 
   ## Short sample interval
   dt = p_c.delta_ol/p_c.N;
 
   ## Observer design
@@ -269,11 +268,11 @@
 	[yi,ui,xsi] = ppp_ystar(A,B,C,D,x,p_c.A_u,U,t_sim); # Simulate
 	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);
-	##X = xsi(:,1);
+	##X = xsi(:,1);		# Wrong!!
       else			# The real thing
 	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