processTD = TimeDiscretisation(t0, h) tSensor = TimeDiscretisation(t0, hControl) tActuator = TimeDiscretisation(t0, hControl) # Creation of the Simulation processSimulation = TimeStepping(processTD, 0) processSimulation.setName("plant simulation") # Declaration of the integrator processIntegrator = ZeroOrderHoldOSI(processDS) processSimulation.insertIntegrator(processIntegrator) # Actuator, Sensor & ControlManager control = ControlManager(process) sens = LinearSensor(tSensor, processDS, sensorC) control.addSensorPtr(sens) act = LinearSMC(tActuator, processDS) act.setCsurfacePtr(Csurface) act.setBPtr(Brel) #act.setDPtr(Drel) act.addSensorPtr(sens) control.addActuatorPtr(act) # Initialization process.initialize(processSimulation) control.initialize() # This is not working right now #eventsManager = s.eventsManager() # Matrix for data storage dataPlot = empty((3*(N+1), outputSize)) #dataPlot[0, 0] = processDS.t0() dataPlot[0, 0] = t0 dataPlot[0, 1] = processDS.x()[0]