maple restart
clear all

% System to control with the regulator
% The output is the error: e = yd - y

A=[0  1  0  0  0
   5  1  0  0  0
   3  0 -2  1  0
   0  0  0  1  0
   0  0  3  1 -4];

B=[0 0
   1 0
   0 0
   0 2
   0 0];

C=[0  0  -3  0  0
   0  0  0  0  -1];

% Exosystem
S=[0 0
   0 0];

% State disturbances matrix
P=[0 0
   0 0
   1 0
   0 0
   0 0];

% Output disturbances and output reference matrix
Q=[1 0
   0 1];


aut_state=[-1 -1.2  -1.4  -1.5 -1.6]*2;
aut_oss=[-1 -1.2 -1.3 -1.4 -1.5 -1.6 -1.8]*40;

[F,G,H,I]=Francis_REG(A,B,C,S,P,Q,aut_state,aut_oss);


