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#' @export
sim <- function(model,input) UseMethod("sim")
#' @export
sim.default <- function(model,input){
return(NULL)
}
#' @export
sim.arx <- function(model,input,sigma=0){
na <- length(model$A) - 1; nk <- model$ioDelay;
nb <- length(model$B) - nk; nb1 <- nb+nk
n <- max(na,nb1)
coef <- matrix(c(model$A[-1],model$B),nrow=na+nb1)
y <- rep(0,length(input)+n)
u <- c(rep(0,n),input)
# padLeftZeros <- function(x) c(rep(0,n),x)
# u <- apply(input,2,padLeftZeros)
for(i in n+1:length(input)){
reg <- matrix(c(-(y[i-1:na]),u[i-nk:nb1]),ncol=na+nb1)
y[i] <- reg%*%coef + rnorm(1,sd = sigma)
}
return(y[n+1:length(input)])
}
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