function sendControlCommand(u_raw,x,actuator_signal_delay)

global u j sim_step u_vec

u = bin2dec(u_raw);
u = (u*(100+100))/(2^x) - 100;

if actuator_signal_delay > 0 && actuator_signal_delay/sim_step < j
    u = u_vec(j-actuator_signal_delay/sim_step);
end