controller 1

function [korr_w, korr_e, u]  = myFunction(IT2_Strecke, a2, a1, a0, b2, b1, b0, u_max, u_min, w, x)

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    % Initialisierung der persistenten Variablen %
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    persistent ek_1;    % vorheriger interne Regelfehler
    persistent ek_2;    % interner Regelfehler vor zwei Zyklen
    persistent ek_3;    % interner Regelfehler vor drei Zyklen

    persistent uk_1;    % vorherige ausgegebene Stellgröße
    persistent uk_2;    % ausgegebene Stellgröße vor zwei Zyklen
    persistent uk_3;    % ausgegebene Stellgröße vor drei Zyklen

    if isempty(ek_1)
        ek_1 = 0;
        ek_2 = 0;
        ek_3 = 0;

        uk_1 = 0;
        uk_2 = 0;
        uk_3 = 0;
    end

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    % Berechnung des Regelfehlers %
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    ek = w -x;  % aktueller Regelfehler im Vergleich zum w0 - x

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    % Dead-Beat-Regelalgorithmus %
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    % Bei a1, a2 und b1 gibt die Zahl den Exponenten an -> a*z, a*z^2 und b*z
    b1b0 = b1 + b0;
    b2b1b0 = b2 + b1 + b0;

    if IT2_Strecke < 1
        % PT2
        uk = (1 / b1b0) * (ek + a1 * ek_1 + a0 * ek_2 + b1 * uk_1 + b0 * uk_2);
    else
        % IT2
        uk = (1 / b2b1b0) * (ek + a2 * ek_1 + a1 * ek_2 + a0 * ek_3 + b2 * uk_1 + b1 * uk_2 + b0 * uk_3);
    end

    %%%%%%%%%%%%%%%%%%%%%
    % Sollwertkorrektur %
    %%%%%%%%%%%%%%%%%%%%%

    if (uk > u_max)
        if IT2_Strecke < 1
            % PT2
            ek = b1b0 * u_max - b1 * uk_1 - b0 * uk_2 - a1 * ek_1 - a0 * ek_2;
        else
            % IT2
            ek = b2b1b0 * u_max - b2 * uk_1 - b1 * uk_2 - b0 * uk_3 - a2 * ek_1 - a1 * ek_2 - a0 * ek_3;
        end

        uk = u_max;
    end

    if (uk < u_min)
        if IT2_Strecke < 1
            % PT2
            ek = b1b0 * u_min - b1 * uk_1 - b0 * uk_2 - a1 * ek_1 - a0 * ek_2;
        else
            % IT2
            ek = b2b1b0 * u_min - b2 * uk_1 - b1 * uk_2 - b0 * uk_3 - a2 * ek_1 - a1 * ek_2 - a0 * ek_3;
        end

        uk = u_min;
    end

    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    % Aktualisieren der Vergangenheitswerte %
    %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    ek_3 = ek_2;
    ek_2 = ek_1;
    ek_1 = ek;

    uk_3 = uk_2;
    uk_2 = uk_1;
    uk_1 = uk;

    %%%%%%%%%%%%%%%%%%%%%
    % Ausgabe der Werte %
    %%%%%%%%%%%%%%%%%%%%%

    korr_w = x + ek;
    korr_e = ek;
    u = uk;

end