def METHOD_NAME(datafile):  # uses datafile pytest fixture
    from siconos.kernel import FirstOrderLinearDS
    from siconos.control.sensor import LinearSensor
    from siconos.control.controller import LinearSMCOT2
    from siconos.control.simulation import ControlZOHSimulation
    from numpy import eye, zeros
    import numpy as np
    from math import sin
    from numpy.linalg import norm
    # Derive our own version of FirstOrderLinearDS
    class MyFOLDS(FirstOrderLinearDS):
        def computeb(self, time):
            t = sin(50*time)
            u = [t, -t]
            self.setbPtr(u)
    # variable declaration
    ndof = 2   # Number of degrees of freedom of your system
    t0 = 0.0   # start time
    T = 1    # end time
    h = 1.0e-4  # time step for simulation
    hControl = 1.0e-2  # time step for control
    Xinit = 1.0  # initial position
    # Matrix declaration
    A = zeros((ndof, ndof))
    x0 = [Xinit, -Xinit]
    sensorC = eye(ndof)
    sensorD = zeros((ndof, ndof))
    Brel = np.array([[0], [1]])
    Csurface = [[0, 1.0]]
    # Simple check
    if h > hControl:
        print("hControl must be bigger than h")
        exit(1)
    # Declaration of the Dynamical System
    processDS = MyFOLDS(x0, A)
    # XXX b is not automatically created ...
    processDS.setbPtr([0, 0])
    sim = ControlZOHSimulation(t0, T, h)
    sim.addDynamicalSystem(processDS)
    # time discretisation
    # Actuator, Sensor & ControlManager
    sens = LinearSensor(processDS, sensorC, sensorD)
    sim.addSensor(sens, hControl)
    act = LinearSMCOT2(sens)
    act.setCsurface(Csurface)
    act.setB(Brel)
    sim.addActuator(act, hControl)
    # Run the simulation
    sim.initialize()
    sim.run()
    # get the results
    tmpData = sim.data()
    dataPlot = tmpData
    # compare with the reference
    ref = np.loadtxt(datafile("smc_2.ref.gz"))
    np.savetxt("smc_2.dat", dataPlot)
    print("%e" % norm(dataPlot - ref))
    if (norm(dataPlot - ref) > 5e-12):
        print(dataPlot - ref)
        print("ERROR: The result is rather different from the reference file.")
    assert norm(dataPlot - ref) < 5e-12