if h > hControl:
print("hControl must be bigger than h")
exit(1)
# Declaration of the Dynamical System
processDS = FirstOrderLinearDS(x0, A)
processDS.setComputebFunction("RelayPlugin", "computeB")
# Control simulation
sim = ControlZOHSimulation(t0, T, h)
sim.setSaveOnlyMainSimulation(True)
sim.addDynamicalSystem(processDS)
# Actuator, Sensor & ControlManager
sens = LinearSensor(processDS, sensorC)
sim.addSensor(sens, hControl)
act = LinearSMC(sens)
act.setCsurface(Csurface)
act.setB(Brel)
sim.addActuator(act, hControl)
# Initialization
sim.initialize()
# Run simulation
sim.run()
# Get data
dataPlot = sim.data()
# Save to disk
savetxt('SMCExampleImplicit-py.dat', dataPlot)
