maple restart
clear all


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

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

B=[0  1  0]';

C=[0  0 -3];

% Exosystem
S=[0 5 0; -5 0 0; 0 0 0];

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

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


aut_state=[-1.1 -1.2 -1.3]*2;
aut_oss=[-1.1 -1.2 -1.3 -1.4 -1.5 -1.6]*40;

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

disp('end')
