ADDED   mttroot/mtt/lib/control/PPP/ppp_lin_run.m
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
@@ -0,0 +1,176 @@
+function [y,u,t,y_e,t_e] = ppp_lin_run (Name,Simulate,ControlType,w,p_c,p_o)
+
+  ## usage:  [y,u,t,y_e,t_e] = ppp_lin_run (Name,Simulate,ControlType,w,p_c,p_o);
+  ##
+  ## 
+  ## Linear closed-loop PPP of lego system (and simulation)
+  ##
+  ## Name: Name of system (in mtt terms)
+  ## Simulate = 0: real thing
+  ## Simulate = 1: simulate
+  ## Control = 0:  step test
+  ## Control = 1:  PPP open-loop
+  ## Control = 2:  PPP closed-loop
+  ## w is the (constant) setpoint
+  ## par_control and par_observer are structures containing parameters
+  ## for the observer and controller
+
+  ##Defaults
+  if nargin<1			# Default name to dir name
+    names = split(pwd,"/");
+    [n_name,m_name] = size(names);
+    Name = deblank(names(n_name,:));
+  endif
+  
+  if nargin<2
+    Simulate = 1;
+  endif
+  
+  if nargin<3
+    ControlType = 2;
+  endif
+  
+  if nargin<4
+    w = 1;
+  endif
+  
+  if nargin<5
+    p_c.N = 10;
+  endif
+  
+  if nargin<6
+    p_o.sigma = 0.001;
+  endif
+
+  if !struct_contains(p_c,"N")
+    p_c.N = 10;			# Number of small samples
+  endif
+  
+  if !struct_contains(p_c,"A_w")
+    p_c.A_w = 0;
+  endif
+  
+  if !struct_contains(p_c,"A_u")
+    p_c.N_u = 3;
+    a_u = 2.0;
+    p_c.A_u = ppp_aug(p_c.A_w,laguerre_matrix(p_c.N_u-1,a_u));
+  endif
+  
+  [p_c.N_u,M_u] = size(p_c.A_u);
+  if (p_c.N_u<>M_u)
+    error("A_u must be square");
+  endif
+  
+  ## System
+  sys = mtt2sys(Name); # Create system
+  [A,B,C,D] = sys2ss(sys);	# SS form
+  [n_x, n_u, n_y] = abcddim(A,B,C,D)
+  ol_poles = eig(A)
+
+  ## Initialise
+  x_0 = zeros(n_x,1);
+  x_est = x_0;
+
+  ## Initilise simulation state
+  x = x_0;
+##x(2) = 0.2;		
+		#   x(2) = y_0(1);
+				#   x(4) = y_0(2);
+
+  if ControlType==0		# Step input
+    N = 50;			# Number of small samples
+    I = 1;			# Number of large samples 
+    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);
+    U = K_w*w;			# Initial control U
+  else				# PPP control
+    I = ceil(50/p_c.N);		# Number of large samples
+    tau = [10:0.1:11]*(2/a_u);	# Time horizons
+    [k_x,k_w,K_x,K_w] = ppp_lin(A,B,C,D,p_c.A_u,p_c.A_w,tau); # Design
+    U = K_w*w			# Initial control U
+
+    ## Checks
+    cl_poles = eig(A - B*k_x)
+  endif
+
+  ## Sample times
+  dt = 0.1;
+  delta = p_c.N*dt;
+
+  ## Observer design
+  Ad = expm(A*delta);		# Discrete-time transition matrix
+  if (ControlType==2)
+    G = eye(n_x);			# State noise gain 
+    sigma_x = eye(n_x);		# State noise variance
+    Sigma = p_o.sigma*eye(n_y);	# Measurement noise variance
+    
+    L = dlqe(Ad,G,C,sigma_x,Sigma)
+  else
+    L = zeros(n_x,n_y);
+  endif
+  
+  obs_poles = eig(Ad-L*C)
+
+  ## Control loop
+  y = [];
+  u = [];
+  t = [];
+  y_e = [];
+  t_e = [];
+  for i=1:I
+    i
+    if Simulate
+      t_sim = [0:p_c.N]*dt;
+      [yi,ui,xsi] = ppp_ystar (A,B,C,D,x,p_c.A_u,U,t_sim);
+      x = xsi(:,p_c.N+1);
+      y_now = yi(:,p_c.N+1);
+    else			# The real thing
+      to_rt(U');		# Send U
+      data = from_rt(p_c.N);	# Receive data
+      [yi,ui] = convert_data(data);
+      y_now = yi(:,p_c.N);	# Current output
+    endif
+    
+
+    ## Zero-gain (OL) observer with state resetting
+    [x_est y_est] = ppp_int_obs (x_est,y_now,U,A,B,C,D,p_c.A_u,delta,L);
+    
+				#       ## Reset states
+				#       x_est(2) = y_now(1);	# Position
+				#       x_est(4) = y_now(2)/g_s;	# Angle 
+    
+    ##Control
+    U = K_w*w- K_x*x_est;
+
+    ## Save
+    ti  = [(i-1)*p_c.N:i*p_c.N-1]*dt; 
+    t = [t;ti'];
+    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];
+  endfor
+
+  ## Put data on file (so can use for identification)
+  filename = sprintf("%s_ident_data.dat",Name);
+  eval(sprintf("save -ascii %s t y u",filename));
+
+
+  ## Plot
+  gset nokey
+  title("");
+  boxed=0;
+  monochrome=1;
+  grid;
+  xlabel("t");
+
+  ylabel("y");
+  figure(1);plot(t,y, t_e,y_e,"+");
+ 				#  figfig("OL_y","eps",boxed,monochrome);
+  ylabel("u");
+  figure(2);plot(t,u);
+ 				#  figfig("OL_u","eps",boxed,monochrome);
+
+endfunction