% continuous controller

function [yhat,ymhat]=contin(f0,sn,yupper,ylower)

[a,b]=max(f0);
yr=(yupper-ylower)/sn;
ymhat=ylower+b*yr;
yhat=ylower*f0(1)+yupper*f0(sn);
for i=2:sn-1
yhat=yhat+f0(i)*(ylower+(i+1)*yr/2);
end