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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")
//------------------------------------------------------------------
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