lin linearization [A,B,C,D]=lin(sim,x0,u0) [sl]=lin(sim,x0,u0) sim function x0, u0 vectors of compatible dimensions A,B,C,D real matrices sl syslin list linearization of the non-linear system [y,xdot]=sim(x,u) around x0,u0. sim is a function which computes y and xdot. The output is a linear system (syslin list) sl or the four matrices (A,B,C,D) For example, if ftz is the function passed to ode e.g. and if we assume that y=x [z]=ode(x0,t0,tf,list(ftz,u) compute x(tf). If simula is the following function: the tangent linear system sl can be obtained by: external derivat