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+//Example 7.10
+//Transformation of Thermal System from Control to Modal Form
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// State space matrices of the given system
+Ac=[-7 1; -12 0];
+Bc=[1;2];
+Cc=[1 0];
+Dc=0;
+//------------------------------------------------------------------
+// State space representation in modal canonical form
+T=[4 -3;-1 1]
+Am=T\Ac*T;
+Bm=T\Bc;
+Cm=Cc*T;
+Dm=Dc;
+disp(Dm,"Dm",Cm,"Cm", Bm,"Bm",Am,"Am","Thermal System in modal canonical form")
+//------------------------------------------------------------------