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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 [K,X]=lqe(P21)
[A,B1,C2,D21,xo,dom]=P21(2:7)
[kk,X]=lqr(syslin(dom,A',C2',B1',D21'));
K=kk';
endfunction
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