clear clc pkg load control s=tf('s'); g11num=[-0.16 0.052 0.0014]*1e-3; g11den=[1 0.0168 0]; g12num=[3.1 -0.032]*1e-3; g12den=[1 0.0215 0]; g13num=[1e-1]; g13den=[0.1 1]; g21num=[-0.0395]; g21den=[1 0.018]; g22num=[2.51e-3]; g22den=[1 0.0157]; g23num=[-.588 0.2015 0.0009]*1e-3; g23den=[1 0.0352 0.000142]; g31num=[-0.000118 0.000139]; g31den=[1 0.01852 0.000142]; g32num=[0.448 0.0011]; g32den=[1 0.0127 0.000095]; g33num=[0.582 -0.0243]; g33den=[1 0.01076 0.000104]; Gnum={g11num g12num g13num; g21num g22num g23num; g31num g32num g33num}; Gden={g11den g12den g13den; g21den g22den g23den; g31den g32den g33den}; G=tf(Gnum,Gden); Gss=ss(G); Gss=prescale(Gss); Wa=[0.00149 0.0133 0.00362; 0.00016 0.0075 0.0020; 0.0011 0.0126 -0.0394]; Winum={[10 4],[0],[0];[0],[2.5 0.05],[0];[0] ,[0], [1 0.05]}; Widen={[1 0],[0],[0];[0],[1 0],[0];[0],[0],[1 0]}; Wi=tf(Winum,Widen); W1=Wa*Wi; W1=ss(W1); W2=eye(size(G)); K=ncfsyn(Gss,W1,W2);