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+// Example A-2-7
+// Transfer function to controllable form (state space)
+
+clear; clc;close;mode(0);
+
+s = %s;
+Num = 2*s^3 + s^2 + s + 2;   n = coeff(Num);
+Den = s^3 + 4*s^2 + 5*s + 2; d = coeff(Den);
+for i = 1:4 ;  b(i) = n(5 - i); a(i) = d(5 - i); end
+
+// Method 1
+_beta(1) = b(1);
+_beta(2) = b(2) - a(2)*_beta(1);
+_beta(3) = b(3) - a(2)*_beta(2) - a(3)*_beta(1);
+_beta(4) = b(4) - a(2)*_beta(3) - a(3)*_beta(2) - a(4)*_beta(1);
+
+A = [0 1 0; 0 0 1; -d(1:3)]
+B = _beta(2:4)
+C = [1 0 0 ] 
+D = b(1)
+
+// method 2
+H2 = cont_frm(Num,Den)