function controller_init(arg)% Distributed control system: controller node%% Receives messages from the sensor node, computes control signal% and sends it to the actuator node. Also contains a high-priority% disturbing task.% Initialize TrueTime kernelttInitKernel(1, 0, 'prioFP'); % nbrOfInputs, nbrOfOutputs, fixed priority% Controller parametersh = 0.010;N = 100000;Td = 0.035;K = 1.5;% Create task data (local memory)data.u = 0.0;data.K = K; data.ad = Td/(N*h+Td);data.bd = N*K*Td/(N*h+Td);data.Dold = 0.0;data.yold = 0.0;% Create controller taskdeadline = h;prio = 2;ttCreateTask('pid_task', deadline, prio, 'ctrlcode', data);% Optional disturbance taskif arg > 0  offset = 0.0002;  period = 0.007;  prio = 1;  ttCreatePeriodicTask('dummy', offset, period, prio, 'dummycode');end% Initialize networkttCreateInterruptHandler('nw_handler', prio, 'msgRcvCtrl');ttInitNetwork(3, 'nw_handler'); % node #3 in the network