The goal of this PR is to provide examples of how to use interconnect to create sophisticated interconnections of systems of different types in a manner that is reminiscent of Simulink. In particular, simulating_sampled_data_systems.ipynbsimulating_discrete_nonlinear.ipynb provides a few helper functions to accurately simulate interconnections of discrete-time controllers, a nonlinear plant, and time delays.

Since Python does not have a great numerical integration system for delay differential equations, the approach that is used is to discretize all of the components with a short time interval, including the discrete-time controller.

A future PR will incorporate some of these helper functions into the library, particularly sampled_data_controller().