static void Main(string[] args)
 {
     float Ts = 0.0002f;      //Sample Time
     float Vs = 2f;           //Gain Constant for Route
     float T1 = 0.005f;       //Time Constant for Route
     Controller_I I1= new Controller_I(0f);
     Step Step1 = new Step(0.02f, 0.0f);
     PT1 PT11 = new PT1(Vs, T1);
     Simulator Simulator1 = new Simulator(I1,Step1,PT11);
     Optimize.Controller(PT11, I1);
     float[,] result = Simulator1.simulate(Ts, 300 * Ts);
     for (int i = 0; i < (result.Length/2); ++i)
     {
         Console.WriteLine("[ " + result[0,i] + " , " + result[1,i] + " ]");
     }
     Console.Read();
 }
 /// <summary>
 /// Optimize a controller for a specific control loop
 /// </summary>
 /// <param name="control_loop">The PT1-control loop in your Schematic</param>
 /// <param name="controller">The I-controller you want to optimize</param>
 public static void Controller(PT1 control_loop, Controller_I controller)
 {
     controller._Ti = 2 * control_loop._Vs * control_loop._T1;
     controller.recalc_coefficients();
 }