% continuous controller

function pol=contin1(mp,m,Ulower,Uupper)

ul=Ulower;                % lower bound of u
uu=Uupper;                 % upper bound of u
ur=uu-ul;
   cop=mp;
   rn=rand;
   pom=0;
   for f=1:m
      if (pom<rn)&(pom+cop(f)>rn) 
        uop=ul+pom*ur; 
        pol=uop;              
      end
        pom=pom+cop(f);
   end