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Robotics

This block is a single step discrete integrator. The output vector is the integral of the input vector computed with the first order forward Euler method define by the following formula: `y`(`k`) = `h` * `u`(`k` - 1) + `y`(`k` - 1), where `h` is the time step, `y`(`k`) the output vector and `u`(`k` - 1) the input vector at the previous sample instant.

Set discrete integral parameters (Forward Euler method) | |

Step | 1 |

Initial state | 0 |

- Step : scalar. The integration time step.
- Initial state : a real vector. The initial value of output state.

- always active:
**no** - direct-feedthrough:
**no** - zero-crossing:
**no** - mode:
**no** - number/sizes of inputs:
**1 / [-1,1]** - number/sizes of activation inputs:
**1 / [1,1]** - number/sizes of outputs:
**1 / [-1,1]** - number/sizes of activation outputs:
**0 /** - continuous-time state:
**no** - discrete-time state:
**yes** - name of computational function:
**rt_fe_cf4**

<PATH>/macros/rt_fe_if.sci[view code]

<PATH>/src/rt_eulerint.c[view code]

A. Layec, "Modnum": Scilab toolbox for the communication systems - Reference Guide, Draft Version, February 2006, pp. 158-159