1. Initialize:

2. Time Delay

3. Sampling Time

4. number Of Points

5. l $\leftarrow$ Time Delay/Sampling Time

6. frac_m % is m according expression (3)

7. frac_m $\leftarrow$ l – Time Delay/Sampling Time

8. $\alpha \leftarrow {\text{e}}^{-a\times \text{frac\_m}\times \text{SamplingTime}}$

9. $m\leftarrow \left[\begin{array}{cc}0& 0\end{array}\right]$

10. For cont $\leftarrow$ 1 to number Of Points – 1

11. k $\leftarrow$ cont+1

12. $e\left(k\right)\leftarrow 1-m\left(k\right)$

13. If $k=2$ then

14. $u\left[k\right]=k_c\frac{2t_i+T}{2t_i}e\left[k\right]$ % expression (10)

15. else

16. $u\left[k\right]=u\left[k-1\right]+k_c\frac{2t_i+T}{2t_i}e\left[k\right]+k_c\frac{T-2t_i}{2t_i}e\left[k-1\right]$ % expression (10)

17. End if

18. % expression (11)

19. If $k=2$ then

20. $y\left[k\right]=0$

21. Else if $k\ge 2$ and $k\le l$

22. $y\left[k\right]={\text{e}}^{-aT}y\left[k-1\right]$

23. Else

24. $y\left[k\right]={\text{e}}^{-aT}y\left[k-1\right]+\frac{1-\alpha }{a}u\left[k-l-1\right]+\frac{\alpha -{\text{e}}^{-aT}}{a}u\left[k-l\right]$

25. End if

26. % expression (12)

27. If $k=2$ then

28. $m\left[k\right]=\frac{2t_d+T}{2t_f+T}y\left[k\right]$

29. Else

30. $m\left[k\right]=\frac{2t_f-T}{2t_f+T}m\left[k-1\right]+\frac{2t_d+T}{2t_f+T}y\left[k\right]+\frac{T-2t_d}{2t_f+T}y\left[k-1\right]$

31. End If

32. $m\left[k+1\right]=m\left[k\right]$

33. End For