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+//Example 7.9
+//State Equations in Modal Canonical Form.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//System transfer function 
+s=poly(0,'s');
+g1=1/s^2;
+g2=-1/(s^2+2*s+4);
+Gs=g1+g2;
+//------------------------------------------------------------------
+// State space representation in modal canonical form
+sys1=tf2ss(g1);
+sys2=tf2ss(g2);
+[F1,G1,T1]=canon(sys1.A, sys1.B)
+H1=sys1.C*T1;
+
+[F2,G2,T2]=canon(sys2.A, sys2.B)
+H2=sys2.C*T2;
+
+F=[F1 zeros(2,2);zeros(2,2) F2];
+G=[G1;G2];
+H=[H1,H2];
+J=0;
+disp(J,"J",H,"H",G,"G",F,"F","System in modal canonical form")
+//------------------------------------------------------------------
+ //As Y=G*U;  consatnts k1 and k2  are taken out from G1 and G2 will be 
+ //multiplied to H1 and H2 
+
+// So alternately, it can be reprsented as
+k1=-1;k2=-2;
+F=[F1 zeros(2,2);zeros(2,2) F2];
+G=[G1/k1;G2/k2];
+H=[H1*k1,H2*k2];
+J=0;
+disp(J,"J",H,"H",G,"G",F,"F","System in modal canonical form")
+//------------------------------------------------------------------
+