Implement a leaky integrator, e.g. x(n+1)=alpha*x(n)+beta*u(n)*dt, using one of three discrete integration methods. Note that the input is multiplied by the timestep, dt; for many applications it will be necesary to scale the gain, beta, by 1/dt.

Parameters
startTime	double	Time at which integration should begin (s)	0.0
delta_t	double	Time between samples (s)	1.0
method	integrationMethod	Integration method (FORWARD_EULER, BACKWARD_EULER, or TRAPEZOID_RULE)	FORWARD_EULER
alpha	float	Coefficient to be multiplied by previous states.	1.0
beta	float	Coefficient to be multiplied by new inputs.	1.0
Inputs
u	Vector<float>	Integrand
Outputs
y	Vector<float>	The integrated output, y=x(n+1)=alpha*x(n)+beta*u(n)*dt
Subsystems
Last Saved: Wed Feb 20 14:47:42 MST 2008 by TVE version 2007B