Hi, this is the easiest part. Using zero older hold to adapt discrete to continuous. Based on my control background and my knowledge of MATLAB/Simulink, I just need a day. Converting the script into Simulink. If it is an open loop, we just need one zero older hold as the set point and the controller are in discrete, however if this is a close loop, then we two zero-older hold, one to convert from discrete to continuous plant, and the second in the feedback loop as a sampler which convert from continuous to discrete which is been compare the reference. I just need few hours. I am ready to start ASAP.