Hello,

I am trying to implement a continuous-time transfer function which has been discretized (into the z-domain) in Arduino.

For instance, lets say I have a model with the following transfer function:

```
H =
s - 1
exp(-0.3*s) * -------------
s^2 + 4 s + 5
```

Using zero-order hold with a sampling time of 0.01 seconds. The model looks like:

```
H_zoh =
0.009752 z - 0.009851
z^(-30) * ---------------------
z^2 - 1.96 z + 0.9608
```

Next, I want to implement this in Arduino and simulate a step response. However I do not know how to implement a discrete-time transfer function in Arduino.

I have already set up a 100 Hz timer, however I do not know what to do from there.

I hope this was the correct forum to ask.

Daniel