function d = compute_I_control(d,t)
    
    for i = 1:d.p.K_b
        
        if t == 1
            % It is the first time step; previous value of v(i,t)
            % does not exist. Choose v(i,t) = v_max_traffic(i,t)
            
            d.s.v(i,t) = d.s.v_max_traffic(i,t);
            
        else
            
            % compute v(i,t) according to the I-control law
            d.s.v(i,t) = d.s.v(i,t-1) + d.p.K_I*d.s.e(i,t);
            
            % saturate v(i,t) between bounds imposed by traffic
            d.s.v(i,t) = ...
                max(min(d.s.v(i,t),...
                d.s.v_max_traffic(i,t)),d.s.v_min_traffic(i,t));
            
        end
        
    end
    
end