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diff --git a/modules/cacsd/macros/colregul.sci b/modules/cacsd/macros/colregul.sci
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+// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+// Copyright (C) INRIA -
+//
+// This file must be used under the terms of the CeCILL.
+// This source file is licensed as described in the file COPYING, which
+// you should have received as part of this distribution.  The terms
+// are also available at
+// http://www.cecill.info/licences/Licence_CeCILL_V2.1-en.txt
+
+
+function [Stmp,Ws]=colregul(Sl,Alfa,Beta);
+    // [Stmp,Ws]=regul(Sl) computes a polynomial-state-space prefilter
+    // Ws such that Stmp=Sl*Ws is proper and non singular.
+    // Poles at infinity of Sl are moved to Alfa;
+    // Zeros at infinity of Sl are moved to Beta;
+    // Sl is asummed left invertible i.e. ss2tf(Sl) full column rank
+    //!
+
+    [LHS,RHS]=argn(0);
+    if RHS==1 then Alfa=0;Beta=0;end
+    flag=0;
+    Sl1=Sl(1)
+    if Sl1(1)=="r" then
+        flag=1;Sl=tf2ss(Sl);
+    end
+    s=poly(0,"s");
+    D=Sl(5);
+    n=size(D);n1=n(1);n2=n(2);
+    Ws=syslin([],[],[],[],eye(n2,n2));
+    Stmp=Sl;
+    m=max(degree(D));
+    //     moving poles @ infinity to poles @ Alfa
+    while m>0
+        Dm=coeff(D,m);
+        [W,r]=colcomp(Dm);
+        if r==0 then Wstmp=W; else
+            dim=n2-r;Wstmp=W*[eye(dim,dim),zeros(dim,r);
+        zeros(r,dim),tf2ss(1/(s-Alfa)*eye(r,r))];end
+        Ws=Ws*Wstmp;
+        Stmp=Stmp*Wstmp;
+        D=clean(Stmp(5));
+        m=max(degree(D));
+    end
+    Stmp(5)=coeff(Stmp(5),0);
+
+    [W,r]=colcomp(Stmp(5));
+    if r==n1 then
+        Ws=Ws*W;Stmp=Stmp*W;
+        if flag==1 then Ws=ss2tf(Ws);Stmp=ss2tf(Stmp);end
+        return;
+    end
+    [nx,nx]=size(Stmp(2));
+    //      moving zeros @ infinity to zeros @ Beta
+    i=0;
+    while r < n2,
+        i=i+1;
+        if r==n2 then Wstmp=W;
+        else
+            dim=n2-r;Wstmp=W*[(s-Beta)*eye(dim,dim),zeros(dim,r);
+            zeros(r,dim),eye(r,r)];
+        end
+        Wstmp=syslin([],[],[],[],Wstmp);
+        Ws=Ws*Wstmp;
+        Stmp=Stmp*Wstmp;
+        Stmp(5)=coeff(Stmp(5),0);
+        rold=r;
+        [W,r]=colcomp(Stmp(5));
+        //  if r==rold&r<>0 then break;end
+        if i>=nx then break;end
+    end
+    if flag==1 then
+    Ws=ss2tf(Ws);Stmp=ss2tf(Stmp);end
+endfunction