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+model RotationalSMD_Concat
+  "State space version of a rotationals spring-mass-damper system using concatenation"
+  parameter Real J1=0.4;
+  parameter Real J2=1.0;
+  parameter Real c1=11;
+  parameter Real c2=5;
+  parameter Real d1=0.2;
+  parameter Real d2=1.0;
+  parameter Real S[2,2] = [-1/J1, 1/J1; 1/J2, -1/J2];
+  extends LTI(nx=4, nu=0, ny=0, x0={0, 1, 0, 0},
+                  A=[zeros(2, 2), identity(2);
+                     c1*S+[0,0;0,-c2/J2], d1*S+[0,0;0,-d2/J2]],
+                  B=fill(0, 4, 0), C=fill(0, 0, 4),
+                  D=fill(0, 0, 0));
+equation
+  u = fill(0, 0);
+end RotationalSMD_Concat;