function [ y ] = step2( G, t, R )

T = t(2) - t(1);

npt = length(t);

Gz = c2d(G, T);

[Az, Bz, Cz, Dz] = ssdata(Gz);
n = length(Az);

X = zeros(n,1);
y = 0*t;
% set the initial condition
for i=1:100
    X = Az*X + Bz*R(1);
end

y(1) = Cz*X + Dz*R(1);

for i=2:npt
    X = Az*X + Bz*R(i);
    Y = Cz*X + Dz * R(i);
    y(i) = Y;
end


   
end