@Override
	public void execute(double t) {
		if (sum == null)
			reset();
		Matrix u = inputU.getInput();

		if (u == null)
			return;

		if (last != null) {
			Matrix dSum = last.plus(u);
			sum = sum.plus(dSum.times(dt / 2));
		}

		last = u;
		try {
			outputY.setOutput(sum);
		} catch (OrderException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
		}
	}