#include "math.h"  
#include "JaoZHControl.h"  
float JaoZHControl(float a,float T,float Ts,float Yl,float Xl,float Xn)
{
	return ((2*a*T/Ts-1)*Yl+(1+2*T/Ts)*Xn+(1-2*T/Ts)*Xl)/(1+2*a*T/Ts);	
}