%   Copyright 1991-2004 MUSYN Inc. and The MathWorks, Inc.
% $Revision: 1.1.6.1 $

echo off
%
%  loop gain controller
%
A =[ ...
  -5.8928e-02 -6.3295e+00 -1.0440e+00 -1.6190e-02   1.8469e+00   1.0405e-02;...
  -1.0283e+00 -1.5776e+03 -1.1900e+03 -9.9924e+00   1.7895e+01   3.0329e+00];
A=[A; 1.0440e+00  1.0146e+03 -4.2005e+01 -1.0953e+00 2.1755e+02 9.9809e-01;...
   1.3287e-02  9.6897e+00 -5.9979e-01 -2.5448e-02   1.3634e+01   4.5286e-02];
A=[A;6.4800e+00 4.0284e+01 -5.9317e+02 -1.5215e+01  -2.3726e+04 -8.1459e+01;...
   1.3057e-02 -4.0389e+00 -1.2179e+00 -1.4332e-02  -5.3180e+01  -2.3590e-01];

B =[ ...
   1.2425e+00  -6.0707e-02; ...
   1.5602e+01  -6.9151e+01; ...
  -1.0002e+01   5.5826e-01; ...
  -1.2752e-01   1.1238e-01; ...
  -6.9355e+01  -1.4693e+01; ...
  -1.4459e-01  -1.2232e-01];


C=[ 3.5741e-01  7.9890e-01  2.8247e+00  8.7133e-02  -7.0893e+01  -1.7902e-01;...
   1.1915e+00  7.0885e+01  9.6107e+00   1.4594e-01   3.3669e-01  -6.1799e-02];

D = zeros(2);

klp = pck(A,B,C,D);
clear A B C D
echo on
%
%