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//function//
A=[-2 0;1 -1]
B=[0;1]
x=[0;0]
disp(x,"x(t)=')
s=poly(0,'s');
[Row Col]=size(A) //Size of a matrix A
m=s*eye(Row,Col)-A //sI-A
n=det(m) //To Find The Determinant of si-A
p=inv(m) ; // To Find The Inverse Of sI-A
syms t s m;
disp(p,"phi(s)=") //Resolvent Matrix
t=(t-m)
q=eval(q) //At t=t-m ,evaluating q i.e phi(t-m)
//Integrate q w.r.t m (Indefinite Integration)
r=integ(q*B,m)
m=0 //Upper limit is t
g=eval(r) //Putting the value of upper limit in q
m=t //Lower Limit is 0
h=eval(r) //Putting the value of lower limit in q
y=(h-g);
disp(y,"y=")
printf("x(t)= phi(t)*x(0) + integ(phi(t-m)*B) w.r.t m from 0 t0 t \n")
//x(t)=phi(t)*x(0)+integ(phi(t-m)*B)w.r.t m from 0 t0 t
y1=(q*x)+y;
disp(y1,"x(t)=")
// CONTROLABILITY OF THE SYSTEM
Cc=cont_mat(A,B);
disp(Cc,"Controlability Matrix=")
//To Check Whether the matrix(Cc)is singular i.e determint of Cc=0
if determ(Cc)==0;
printf("Since the matrix is Singular, the system is not controllable \n");
else;
printf("The system is controllable \n")
end;
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