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// Illustration 2.2
// Conversion from transfer function model to state space model
// Section 2-6 of the Book
// This example demonstrates that there is no unique
// state space reperesentation of a transfer function.
clear; clc; close; mode(0);
s = %s;
num = s;
den = 160 + 56*s + 14*s^2 + s^3;
Htf = syslin('c',num,den)
// There are infinite state space models for the same transfer
// function. The tf2ss() function will return one of them,
Hss = tf2ss(Htf);
ssprint(Hss); //Print the state space model
//Alternatively: you can directly get the A,B,C,D
[A,B,C,D] = abcd(Htf)
//To cross check, let us find the transfer function
Htf2 = clean(ss2tf(Hss)) //which matches with Htf
Hssc = cont_frm(Htf.num,Htf.den)
Htfc = clean(ss2tf(Hssc))
// The same transfer function again
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