% continuous controller

function pol=contin(cp,sn,yupper,ylower)


ur=yupper-ylower;
   cop=cp;
   rn=rand;
   pom=0;
   for f=1:sn
      if (pom<rn)&(pom+cop(f)>rn) 
        uop=ylower+pom*ur; 
        pol=uop;              
      end
        pom=pom+cop(f);
   end