#define SIZE_MAX 		1000
#define STEP_TH_LEVEL	0.85

/*----------------------------- C o n s t a n t s --------------------------*/
const float Td= 0.002;							// sample time [s]
const float u[SIZE_MAX]= {						// input data samples
				-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0280,-0.0378,-0.0329,
				-0.0378,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0280,-0.0378,
				-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0378,-0.0329,
				-0.0378,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,
				-0.0280,-0.0378,-0.0280,-0.0329,-0.0280,-0.0280,-0.0329,-0.0280,
				-0.0329,-0.0280,-0.0378,-0.0329,-0.0329,-0.0280,-0.0329, 0.9730,
				 0.9730,0.9778,0.9632,0.9730,0.9730,0.9730,0.9730,0.9681,0.9730,
				 0.9730,0.9730,0.9778,0.9681,0.9730,0.9778,0.9681,0.9730,0.9730,
				 0.9632,0.9730,0.9730,0.9681,0.9730,0.9778,0.9730,0.9730,0.9778,
				 0.9730,0.9681,0.9730,0.9730,0.9730,0.9681,0.9730,0.9778,0.9778,
				 0.9730,0.9730,0.9730,0.9778,0.9778,0.9681,0.9730,0.9778,0.9778,
				 0.9778,0.9730,0.9730,0.9778,0.9778,0.9778,0.9730,0.9730,0.9778,
				 0.9778,0.9778,0.9778,0.9730,0.9681,0.9778,0.9778,0.9778,0.9778,
				 0.9730,0.9681,0.9730,0.9778,0.9778,0.9778,0.9730,0.9730,0.9778,
				 0.9778,0.9778,0.9778,0.9681,0.9730,0.9778,0.9778,0.9778,0.9730,
				 0.9681,0.9730,0.9778,0.9778,0.9730,0.9681,0.9730,0.9778,0.9778,
				 0.9778,0.9681,0.9730,0.9778,0.9778,0.9730,0.9681,0.9730,0.9778,
				 0.9778,0.9730,0.9681,0.9730,0.9778,0.9730,0.9730,0.9681,0.9730,
				 0.9778,0.9730,0.9730,0.9730,0.9730,0.9778,0.9778,0.9681,0.9730,
				 0.9730,0.9778,0.9730,0.9681,0.9730,0.9730,0.9730,0.9730,0.9681,
				 0.9730,0.9778,0.9778,0.9730,0.9681,0.9778,0.9778,0.9778,0.9730,
				 0.9681,0.9730,0.9730,0.9778,0.9681,0.9730,0.9778,0.9778,0.9778,
				 0.9730,0.9730,0.9730,0.9778,0.9778,0.9730,0.9730,0.9778,0.9778,
				 0.9778,0.9681,0.9730,0.9730,0.9778,0.9778,0.9730,0.9730,0.9778,
				 0.9730,0.9778,0.9730,0.9534,0.9778,0.9730,0.9778,0.9730,0.9681,
				 0.9778,0.9778,0.9778,0.9730,0.9730,0.9778,0.9730,0.9778,0.9681,
				 0.9730,0.9778,0.9778,0.9730,0.9730,0.9632,0.9730,0.9778,0.9778,
				 0.9730,0.9681,0.9778,0.9778,0.9778,0.9730,0.9681,0.9730,0.9730,
				 0.9778,0.9730,0.9681,0.9778,0.9778,0.9778,0.9730,0.9681,0.9730,
				 0.9778,0.9778,0.9730,0.9632,0.9730,0.9730,0.9730,0.9730,0.9681,
				 0.9730,0.9730,0.9778,0.9730,0.9632,0.9730,0.9778,0.9778,0.9730,
				 0.9632,0.9730,0.9778,0.9778,0.9730,0.9681,0.9778,0.9730,0.9778,
				 0.9730,0.9681,0.9730,-0.0036,-0.0280,-0.0378,-0.0280,-0.0280,
				-0.0280,-0.0280,-0.0280,-0.0280,-0.0280,-0.0329,-0.0280,-0.0280,
				-0.0378,-0.0280,-0.0280,-0.0280,-0.0280,-0.0378,-0.0280,-0.0280,
				-0.0280,-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,
				-0.0329,-0.0280,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0280,-0.0329,-0.0280,-0.0329,-0.0329,-0.0378,-0.0329,
				-0.0378,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,
			    -0.0280,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0329,-0.0427,-0.0280,-0.0329,-0.0280,
				-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,-0.0378,
				-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,-0.0280,-0.0329,-0.0329,
				-0.0329,-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,
				-0.0378,-0.0280,-0.0378,-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0280,-0.0378,-0.0280,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0280,-0.0329,-0.0280,-0.0378,-0.0329,
				-0.0378,-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,-0.0280,-0.0329,
				-0.0280,-0.0378,-0.0329,-0.0378,-0.0280,-0.0329,-0.0329,-0.0280,
				-0.0329,-0.0280,-0.0378,-0.0280,-0.0378,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,-0.0329,-0.0378,
				-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0378,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0378,
				-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0280,
				-0.0378,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0280,-0.0329,
				-0.0329,-0.0378,-0.0280,-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0427,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,
				-0.0280,-0.0378,-0.0329,-0.0378,-0.0280,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0280,-0.0378,-0.0329,-0.0378,-0.0280,-0.0329,-0.0329,
				-0.0329,-0.0329,0.9730,0.9730,0.9681,0.9730,0.9632,0.9730,0.9730,
				 0.9730,0.9730,0.9632,0.9730,0.9730,0.9730,0.9730,0.9730,0.9730,
				 0.9730,0.9681,0.9730,0.9778,0.9681,0.9730,0.9730,0.9730,0.9730,
			 	 0.9778,0.9730,0.9681,0.9778,0.9778,0.9730,0.9681,0.9730,0.9778,
				 0.9778,0.9681,0.9778,0.9730,0.9730,0.9681,0.9730,0.9778,0.9778,
				 0.9778,0.9730,0.9730,0.9778,0.9730,0.9778,0.9730,0.9681,0.9730,
				 0.9730,0.9778,0.9778,0.9730,0.9730,0.9730,0.9778,0.9778,0.9778,
				 0.9681,0.9730,0.9778,0.9778,0.9778,0.9778,0.9730,0.9730,0.9778,
				 0.9778,0.9778,0.9778,0.9681,0.9730,0.9778,0.9778,0.9778,0.9730,
				 0.9681,0.9778,0.9730,0.9778,0.9730,0.9681,0.9730,0.9778,0.9778,
				 0.9730,0.9681,0.9730,0.9778,0.9778,0.9730,0.9681,0.9730,0.9778,
				 0.9778,0.9778,0.9681,0.9778,0.9778,0.9778,0.9778,0.9681,0.9778,
				 0.9778,0.9730,0.9778,0.9632,0.9778,0.9730,0.9778,0.9730,0.9632,
				 0.9778,0.9778,0.9778,0.9730,0.9730,0.9730,0.9778,0.9778,0.9681,
				 0.9730,0.9778,0.9730,0.9730,0.9681,0.9730,0.9778,0.9778,0.9730,
				 0.9681,0.9730,0.9730,0.9730,0.9730,0.9730,0.9730,0.9778,0.9778,
				 0.9730,0.9681,0.9730,0.9778,0.9778,0.9730,0.9730,0.9730,0.9778,
				 0.9730,0.9778,0.9730,0.9730,0.9778,0.9730,0.9778,0.9730,0.9778,
				 0.9778,0.9778,0.9730,0.9681,0.9778,0.9778,0.9778,0.9730,0.9681,
				 0.9778,0.9778,0.9778,0.9778,0.9681,0.9778,0.9778,0.9778,0.9730,
				 0.9681,0.9730,0.9730,0.9778,0.9730,0.9681,0.9730,0.9778,0.9778,
				 0.9730,0.9681,0.9730,0.9778,0.9730,0.9778,0.9681,0.9730,0.9778,
				 0.9778,0.9778,0.9681,0.9730,0.9730,0.9730,0.9778,0.9681,0.9778,
				 0.9730,0.9778,0.9730,0.9681,0.9730,0.9778,0.9778,0.9778,0.9681,
				 0.9730,0.9778,0.9778,0.9730,0.9681,0.9730,0.9730,0.9778,0.9730,
				 0.9681,0.9730,0.9778,0.9778,0.9778,0.9681,0.9730,0.9778,0.9730,
				 0.9730,0.9681,0.9730,0.9730,0.9730,0.9730,0.9681,-0.0280,-0.0280,
				-0.0329,-0.0280,-0.0280,-0.0329,-0.0280,-0.0280,-0.0378,-0.0280,
				-0.0329,-0.0280,-0.0280,-0.0329,-0.0280,-0.0280,-0.0329,-0.0280,
				-0.0329,-0.0329,-0.0329,-0.0280,-0.0280,-0.0378,-0.0280,-0.0378,
				-0.0280,-0.0329,-0.0280,-0.0378,-0.0329,-0.0280,-0.0280,-0.0329,
				-0.0329,-0.0329,-0.0280,-0.0280,-0.0329,-0.0329,-0.0280,-0.0378,
				-0.0329,-0.0427,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0280,
				-0.0378,-0.0329,-0.0329,-0.0280,-0.0280,-0.0329,-0.0329,-0.0329,
				-0.0280,-0.0378,-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,-0.0280,
				-0.0329,-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,-0.0329,-0.0329,
				-0.0329,-0.0280,-0.0280,-0.0280,-0.0329,-0.0280,-0.0329,-0.0280,
				-0.0378,-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0280,
				-0.0280,-0.0329,-0.0280,-0.0280,-0.0280,-0.0329,-0.0329,-0.0329,
				-0.0280,-0.0378,-0.0280,-0.0378,-0.0329,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,-0.0280,-0.0378,-0.0280,
				-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,-0.0280,-0.0329,
				-0.0280,-0.0427,-0.0280,-0.0329,-0.0329,-0.0329,-0.0280,-0.0280,
				-0.0329,-0.0280,-0.0329,-0.0329,-0.0378,-0.0280,-0.0329,-0.0280,
				-0.0280,-0.0329,-0.0329,-0.0378,-0.0280,-0.0378,-0.0280,-0.0427,
				-0.0280,-0.0280,-0.0329,-0.0280,-0.0280,-0.0280,-0.0329,-0.0280,
				-0.0378,-0.0280,-0.0329,-0.0280,-0.0329,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0427,-0.0280,-0.0329,-0.0329,-0.0280,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0378,-0.0329,-0.0329,-0.0280,-0.0329,-0.0280,
				-0.0329,-0.0329,-0.0329,-0.0378,-0.0329,-0.0329,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0329,-0.0378,-0.0280,-0.0329,-0.0329,
				-0.0329,-0.0329,-0.0280,-0.0378,-0.0329,-0.0378,-0.0280,-0.0329,
				-0.0329,-0.0329,-0.0329,-0.0280,-0.0378,-0.0329,-0.0378,-0.0280,
				-0.0329,-0.0329,-0.0280,-0.0329,-0.0280,-0.0378,-0.0329,-0.0378,
				-0.0280,-0.0329,-0.0329,-0.0280,0.9730,0.9730,0.9730,0.9730,
				 0.9730,0.9681,0.9730,0.9778,0.9681,0.9730,0.9730,0.9730,0.9730,
				 0.9681,0.9778,0.9730,0.9632,0.9778,0.9778,0.9632,0.9730,0.9730,
				 0.9681,0.9730,0.9730,0.9730,0.9730,0.9778,0.9730,0.9681,0.9730};
const float y[SIZE_MAX]= {						// output data samples
				 0.0062,-0.003,0.0062,0.0062,0.0062,0.0062,0.0062,0.0110,0.0062,
				 0.0110,0.0013,0.0110,0.0110,0.0110,0.0110,0.0110,0.0159,0.0062,
				 0.0159,0.0013,0.0159,0.0159,0.0159,0.0159,0.0159,0.0208,0.0110,
				 0.0208,0.0159,0.0208,0.0208,0.0159,0.0208,0.0159,0.0208,0.0110,
				 0.0208,0.0208,0.0208,0.0208,0.0208,0.0208,0.0208,0.0208,0.0159,
				 0.0208,0.0159,0.0257,0.0208,0.0403,0.0452,0.0648,0.0794,0.0989,
				 0.1234,0.1429,0.1722,0.2064,0.2259,0.2650,0.2991,0.3333,0.3675,
				 0.4017,0.4359,0.4749,0.5091,0.5482,0.5823,0.6165,0.6507,0.6849,
				 0.7239,0.7484,0.7874,0.8216,0.8509,0.8753,0.9144,0.9388,0.9681,
				 0.9876,1.0218,1.0462,1.0657,1.0804,1.1048,1.1194,1.1390,1.1536,
				 1.1634,1.1829,1.1976,1.2073,1.2122,1.2171,1.2269,1.2317,1.2366,
				 1.2415,1.2415,1.2366,1.2415,1.2464,1.2415,1.2415,1.2317,1.2269,
				 1.2269,1.2220,1.2171,1.2122,1.2025,1.1927,1.1878,1.1829,1.1732,
				 1.1634,1.1536,1.1439,1.1390,1.1341,1.1194,1.1097,1.0950,1.0901,
				 1.0853,1.0755,1.0706,1.0560,1.0462,1.0462,1.0364,1.0267,1.0169,
				 1.0071,1.0071,1.0023,0.9974,0.9876,0.9778,0.9827,0.9778,0.9730,
				 0.9632,0.9534,0.9583,0.9583,0.9534,0.9485,0.9388,0.9485,0.9485,
				 0.9437,0.9388,0.9388,0.9437,0.9437,0.9388,0.9388,0.9388,0.9437,
				 0.9485,0.9437,0.9437,0.9534,0.9534,0.9534,0.9534,0.9485,0.9583,
				 0.9632,0.9632,0.9632,0.9583,0.9730,0.9730,0.9778,0.9730,0.9730,
				 0.9827,0.9827,0.9876,0.9827,0.9876,0.9925,0.9925,0.9974,0.9925,
				 0.9974,1.0023,1.0023,1.0023,1.0023,1.0023,1.0120,1.0120,1.0120,
				 1.0071,1.0120,1.0169,1.0169,1.0169,1.0120,1.0169,1.0169,1.0169,
				 1.0169,1.0169,1.0169,1.0218,1.0169,1.0169,1.0169,1.0169,1.0218,
				 1.0169,1.0218,1.0120,1.0169,1.0169,1.0169,1.0169,1.0120,1.0120,
				 1.0169,1.0120,1.0169,1.0071,1.0071,1.0120,1.0120,1.0120,1.0071,
				 1.0071,1.0120,1.0120,1.0071,1.0071,1.0023,1.0071,1.0071,1.0071,
				 1.0023,0.9974,1.0023,1.0071,1.0071,1.0023,0.9925,1.0023,1.0023,
				 1.0071,0.9974,0.9925,1.0023,0.9974,1.0023,0.9974,0.9925,1.0023,
				 1.0023,1.0023,0.9974,0.9925,1.0023,0.9974,1.0023,0.9974,0.9925,
				 1.0023,1.0023,1.0023,0.9974,0.9925,1.0023,1.0023,1.0023,0.9974,
			 	 0.9974,1.0023,1.0023,1.0023,0.9974,0.9974,1.0023,0.9974,0.9876,
				 0.9827,0.9730,0.9534,0.9388,0.9144,0.8851,0.8655,0.8411,0.8069,
				 0.7825,0.7484,0.7191,0.6849,0.6409,0.6116,0.5775,0.5433,0.5042,
				 0.4603,0.4359,0.3919,0.3626,0.3284,0.2894,0.2552,0.2259,0.1917,
				 0.1624,0.1331,0.0989,0.0745,0.0452,0.0208,-0.0036,-0.0231,-0.0524,
				-0.0720,-0.0915,-0.1061,-0.1208,-0.1403,-0.1550,-0.1696,-0.1745,
				-0.1940,-0.1940,-0.2038,-0.2087,-0.2136,-0.2184,-0.2233,-0.2282,
				-0.2233,-0.2282,-0.2233,-0.2233,-0.2184,-0.2087,-0.2184,-0.2038,
				-0.2038,-0.1940,-0.1891,-0.1843,-0.1745,-0.1745,-0.1550,-0.1501,
				-0.1452,-0.1354,-0.1257,-0.1159,-0.1110,-0.0964,-0.0915,-0.0768,
				-0.0720,-0.0573,-0.0524,-0.0378,-0.0329,-0.0280,-0.0183,-0.0183,
				-0.0036,-0.0036,0.0110,0.0159,0.0257,0.0257,0.0355,0.0403,0.0452,
				 0.0501,0.0501,0.0599,0.0599,0.0648,0.0648,0.0696,0.0696,0.0745,
				 0.0696,0.0794,0.0794,0.0794,0.0794,0.0794,0.0794,0.0794,0.0794,
				 0.0745,0.0745,0.0648,0.0794,0.0843,0.0696,0.0696,0.0696,0.0648,
				 0.0599,0.0599,0.0599,0.0550,0.0501,0.0550,0.0403,0.0501,0.0452,
				 0.0452,0.0403,0.0403,0.0355,0.0306,0.0306,0.0208,0.0257,0.0257,
				 0.0257,0.0208,0.0208,0.0208,0.0159,0.0159,0.0062,0.0159,0.0013,
				 0.0110,0.0062,0.0062,0.0062,0.0062,0.0062,0.0013,0.0013,-0.0036,
				 0.0013,0.0013,-0.0036,0.0013,0.0013,0.0013,-0.0036,0.0013,-0.0085,
				 0.0013,0.0013,0.0062,0.0013,0.0062,0.0013,0.0013,0.0062,0.0013,
				 0.0062,0.0062,0.0062,0.0062,0.0062,0.0062,0.0062,0.0110,0.0013,
				 0.0110,0.0110,0.0110,0.0110,0.0062,0.0110,0.0062,0.0159,0.0110,
				 0.0159,0.0159,0.0159,0.0159,0.0159,0.0159,0.0159,0.0208,0.0159,
				 0.0208,0.0159,0.0208,0.0208,0.0159,0.0208,0.0110,0.0208,0.0208,
				 0.0208,0.0208,0.0208,0.0208,0.0159,0.0208,0.0159,0.0208,0.0208,
				 0.0208,0.0208,0.0306,0.0257,0.0501,0.0599,0.0794,0.0989,0.1185,
				 0.1478,0.1722,0.2015,0.2357,0.2552,0.2991,0.3284,0.3577,0.4017,
				 0.4359,0.4700,0.5091,0.5433,0.5775,0.6116,0.6507,0.6800,0.7191,
				 0.7581,0.7874,0.8216,0.8558,0.8851,0.9095,0.9388,0.9681,0.9925,
				 1.0169,1.0413,1.0609,1.0804,1.0999,1.1194,1.1390,1.1536,1.1683,
				 1.1829,1.1878,1.2025,1.2122,1.2220,1.2269,1.2317,1.2269,1.2415,
				 1.2464,1.2415,1.2415,1.2366,1.2366,1.2366,1.2366,1.2317,1.2317,
				 1.2171,1.2122,1.2122,1.2073,1.1976,1.1878,1.1780,1.1732,1.1634,
				 1.1585,1.1487,1.1390,1.1194,1.1194,1.1146,1.0999,1.0950,1.0804,
				 1.0755,1.0706,1.0560,1.0511,1.0413,1.0267,1.0267,1.0218,1.0120,
				 1.0071,0.9925,0.9974,0.9876,0.9876,0.9778,0.9681,0.9730,0.9681,
				 0.9632,0.9583,0.9485,0.9534,0.9534,0.9534,0.9437,0.9388,0.9437,
				 0.9437,0.9437,0.9388,0.9388,0.9437,0.9437,0.9437,0.9437,0.9437,
				 0.9485,0.9485,0.9534,0.9485,0.9534,0.9583,0.9583,0.9583,0.9534,
				 0.9632,0.9681,0.9681,0.9730,0.9632,0.9778,0.9778,0.9778,0.9778,
				 0.9778,0.9876,0.9925,0.9925,0.9925,0.9925,0.9974,0.9974,1.0023,
				 1.0023,1.0023,1.0023,1.0071,1.0071,1.0071,1.0120,1.0120,1.0120,
				 1.0169,1.0120,1.0169,1.0169,1.0169,1.0169,1.0169,1.0169,1.0169,
				 1.0218,1.0169,1.0169,1.0169,1.0218,1.0218,1.0218,1.0169,1.0120,
				 1.0169,1.0218,1.0169,1.0120,1.0071,1.0169,1.0169,1.0169,1.0120,
				 1.0071,1.0120,1.0169,1.0120,1.0120,1.0071,1.0120,1.0120,1.0120,
				 1.0071,0.9974,1.0071,1.0120,1.0071,1.0071,1.0023,1.0023,1.0023,
				 1.0023,1.0071,0.9974,1.0023,1.0023,1.0023,1.0023,0.9974,1.0023,
				 1.0023,1.0023,1.0023,0.9925,0.9974,1.0023,1.0023,0.9974,0.9925,
				 1.0023,1.0023,0.9974,1.0023,0.9925,0.9974,1.0023,1.0023,1.0023,
				 0.9925,0.9974,1.0023,1.0023,0.9974,0.9925,1.0023,1.0023,0.9974,
				 1.0023,0.9925,1.0023,1.0023,1.0023,1.0023,0.9974,0.9925,0.9827,
				 0.9730,0.9583,0.9339,0.9144,0.8948,0.8655,0.8411,0.8118,0.7728,
				 0.7532,0.7142,0.6849,0.6507,0.6067,0.5775,0.5482,0.5091,0.4700,
				 0.4261,0.4017,0.3577,0.3284,0.2894,0.2601,0.2259,0.1917,0.1624,
				 0.1331,0.1038,0.0745,0.0452,0.0208,-0.0036,-0.0280,-0.0475,-0.0671,
				-0.0915,-0.1061,-0.1257,-0.1354,-0.1550,-0.1647,-0.1794,-0.1891,
				-0.1989,-0.2038,-0.2087,-0.2136,-0.2136,-0.2233,-0.2233,-0.2331,
				-0.2184,-0.2233,-0.2233,-0.2184,-0.2184,-0.2087,-0.2136,-0.2038,
				-0.1940,-0.1891,-0.1794,-0.1794,-0.1647,-0.1647,-0.1501,-0.1403,
				-0.1354,-0.1208,-0.1208,-0.1013,-0.0964,-0.0866,-0.0768,-0.0671,
				-0.0573,-0.0524,-0.0427,-0.0329,-0.0231,-0.0231,-0.0085,-0.0085,
				 0.0062,0.0013,0.0159,0.0208,0.0306,0.0355,0.0403,0.0452,0.0501,
				 0.0550,0.0599,0.0648,0.0648,0.0696,0.0648,0.0745,0.0648,0.0745,
				 0.0745,0.0794,0.0794,0.0794,0.0794,0.0794,0.0794,0.0745,0.0794,
				 0.0696,0.0745,0.0648,0.0745,0.0696,0.0696,0.0648,0.0648,0.0648,
				 0.0599,0.0599,0.0550,0.0550,0.0452,0.0501,0.0452,0.0452,0.0403,
				 0.0403,0.0403,0.0355,0.0355,0.0257,0.0306,0.0208,0.0257,0.0208,
				 0.0208,0.0208,0.0159,0.0208,0.0110,0.0110,0.0062,0.0110,0.0062,
				 0.0062,0.0062,0.0062,0.0062,0.0013,0.0062,-0.0036,0.0062,-0.0036,
				 0.0013,0.0013,0.0013,0.0013,-0.0036,0.0013,-0.0036,0.0013,0.0013,
				 0.0013,0.0013,0.0013,0.0062,0.0013,0.0062,-0.0036,0.0062,-0.0036,
				 0.0062,0.0062,0.0062,0.0062,0.0062,0.0062,0.0013,0.0110,0.0062,
				 0.0110,0.0110,0.0110,0.0159,0.0110,0.0159,0.0062,0.0159,0.0159,
				 0.0159,0.0159,0.0159,0.0159,0.0110,0.0208,0.0110,0.0208,0.0159,
				 0.0208,0.0208,0.0159,0.0208,0.0159,0.0208,0.0110,0.0208,0.0159,
				 0.0208,0.0208,0.0208,0.0208,0.0159,0.0208,0.0110,0.0208,0.0208,
				 0.0257,0.0257,0.0355,0.0403,0.0648,0.0794,0.0989,0.1234,0.1429,
				 0.1722,0.2015,0.2210,0.2650,0.2942,0.3284,0.3675,0.3968,0.4359,
				 0.4749,0.5042,0.5433,0.5823,0.6116,0.6458,0.6849,0.7191,0.7435,
				 0.7874,0.8216,0.8509,0.8802};


/* Parameter Structure */
typedef struct syss_t {
	float ymax, ymax2;						// maximum values of output
 	float ymin;							// minimum between maximums
   	float t0, t1, t2;						// time indexes
   	float uss, yss;							// steady-state values
   	float kp, D, w0;						// calculated parameters
}sysS_param_t;

sysS_param_t pp={0,0,1,0,};

int main(void) {

/* local variables */
int brise, bfall;							// booleans
int irise=0, ifall=0, imax=0, imin=0, i;				// indexes
int status;

brise= 1; bfall= 0;
/* (1) find intervall */
for(i=1; i<SIZE_MAX; i++) {
	if(bfall)
		if((u[i] - u[i-1]) < -STEP_TH_LEVEL) {			// detect falling impulse
			bfall= 0;
			ifall= i-1;
			pp.uss= u[i-1];									// steady-state values
			pp.yss= y[i-1];
			goto fin1;										// exit and go to (2)
		}
	if(brise)
		if((u[i] - u[i-1]) > STEP_TH_LEVEL) {			// detect rising impulse
			brise= 0;
			bfall= 1;
			irise= i-1;                                 	// found rising index
		}
}//end for
/* (2) find global maximum */
fin1:
for(i=irise+1; i<ifall; i++)
	if(y[i] > pp.ymax) {									// detect maximum w/ corresponding time
		pp.ymax= y[i];
		pp.t1= i*Td;
		imax= i;
	}
/* (3) find following minimum */
for(i=imax; i<ifall; i++)
	if(y[i] < pp.ymin) {										// detect index for minimum
	   pp.ymin= y[i];
	   imin= i;
		}
/* (4) find local maximum */
for(i=imin+1; i<ifall; i++)
	if(y[i] > pp.ymax2) {
		pp.ymax2= y[i];
		pp.t2= i*Td;
    	}

status= calc_PT2param(pp.ymax,pp.ymax2,pp.t1,pp.t2,pp.uss,pp.yss);
if(!status) {
	printf("\n Parameters found..");
	return(EXIT_SUCCESS);
}