function [ y ] = step3( A, B, C, D, t, X0, U )


T = t(2) - t(1);
[m, n] = size(C);

npt = length(t);

Az = expm(A*T);
Bz = B*T;

X = X0;

y = zeros(npt, m);

y(1,:) = (C*X + D * ( U(1,:)' ) )';

for i=2:npt
    X = Az*X + Bz*( U(i,:)' );
    Y = C*X + D * ( U(i,:)' );
    
    y(i,:) = Y';
    
   end

end