integrator2 = YopSystem('states', 2, 'controls', 1);
integrator2.set('ode', [integrator2.x(2); integrator2.u]);
controller = YopSystem('externals', 2, 'parameters', 2);
u = controller.p(1)*controller.w(1) + controller.p(2)*controller.w(2);
c1 = YopConnection(integrator2.u, u);
c2 = YopConnection(integrator2.x, controller.w);
simulator = YopSimulator(...
'systems', [integrator2; controller], ...
'connections', [c1;c2] ...
);
res = simulator.simulate(...
'grid', linspace(0, 5, 100), ...
'initialValue', integrator2.x, [0; 10], ...
'initialValue', controller.p, [-6; -5] ...
);
time = integrator2.t;
figure(1);
subplot(311); hold on
res.plot(time, integrator2.x(1));
subplot(312); hold on
res.plot(time, integrator2.x(2));
subplot(313); hold on
res.plot(time, u);
