Cedric

Your solution is just perfect! The system has to run in "real-time" as it is meant to be a didactic simulation. The problem was that I coupled my precision with my looptime! When I increased my precision, I also decreased my looptime so everything had to run fast. In your solution, only the relay has to run fast while the drawing can run at the standard 100ms rate. Now I can view the system in real-time with a CPU load of 50% Thank you very much for your help! Greetings, Cedric.

I tested my program again and found that the problem is a timing issue. When I change the loop delay to 10ms and the dt of H(s) to 10ms (instead of 100ms), the results are very close to those of Simulink. The problem is that these values are impossible to work with on a PIII 900MHz as everything goes in slow motion. Are there solutions to improve speed or a more effective way to make my program behave correctly without having to decrease the loop time? Thanks in advance!

I created a theoretical transfer function 5/(s