Ad = [ 0.9211 -0.0205 0.0384 0.0044 -0.0502 0.0203 0.0118 -0.0327 0.0905 -0.0015 0.0050 0.0011 -0.0084 0.0032 -0.0005 -0.0032; ... -0.1677 0.9770 0.0964 0.0275 -0.1707 0.0613 -0.0204 -0.0457 -0.0253 0.0970 0.0144 0.0043 -0.0260 0.0093 -0.0028 -0.0071; ... -0.1053 0.0103 1.0460 0.0110 -0.1142 0.0333 -0.0093 -0.0389 -0.0159 -0.0011 0.1085 0.0024 -0.0165 0.0057 -0.0017 -0.0049; ... 0.0504 0.0136 -0.0311 0.9918 0.0427 -0.0179 0.0016 0.0150 0.0070 0.0011 -0.0040 0.0988 0.0069 -0.0026 0.0007 0.0020; ... -0.4968 -0.0285 0.2787 0.0882 0.4553 0.1880 -0.0820 -0.1361 -0.0774 -0.0079 0.0439 0.0135 0.0190 0.0287 -0.0094 -0.0217; ... 0.1766 0.0225 -0.0999 -0.0328 0.1792 0.9329 0.0267 0.0494 0.0266 0.0031 -0.0150 -0.0045 0.0271 0.0901 0.0033 0.0076; ... 0.1390 0.0122 -0.0772 -0.0192 0.1425 -0.0484 1.0113 0.0411 0.0209 0.0023 -0.0118 -0.0035 0.0216 -0.0076 0.1021 0.0060; ... 0.0093 0.0007 -0.0119 -0.0095 0.0259 -0.0106 0.0174 0.9932 0.0028 0.0003 -0.0019 -0.0008 0.0036 -0.0013 0.0008 0.1004; ... -5.3662 -0.8281 2.8995 0.7210 -4.8629 1.7938 -0.2296 -1.7418 0.9188 -0.0225 0.0382 0.0028 -0.0502 0.0231 0.0154 -0.0346; ... -14.6941 -1.7192 8.3059 2.4388 -14.9543 5.3737 -1.7899 -4.1743 -0.1601 0.9719 0.0984 0.0324 -0.1780 0.0633 -0.0016 -0.0374; ... -9.2144 -0.5855 4.9199 1.4057 -9.5174 3.2657 -1.0516 -2.8206 -0.1015 0.0069 1.0466 0.0132 -0.1182 0.0351 0.0023 -0.0357; ... 4.0437 0.6088 -2.3290 -0.6710 3.9446 -1.4691 0.4023 1.1724 0.0487 0.0150 -0.0315 0.9906 0.0443 -0.0186 -0.0031 0.0133; ... -45.0244 -4.4737 25.3107 7.6087 -46.5957 16.5936 -5.9095 -12.8120 -0.4710 -0.0441 0.2852 0.1047 0.4317 0.1930 -0.0229 -0.1080; ... 15.3327 1.7600 -8.6343 -2.6225 15.5933 -5.6587 1.9710 4.3804 0.1716 0.0278 -0.1017 -0.0360 0.1856 0.9297 0.0091 0.0425; ... 12.1779 1.2886 -6.8311 -1.9493 12.4140 -4.4054 1.3702 3.5234 0.1318 0.0164 -0.0789 -0.0238 0.1489 -0.0497 0.9949 0.0337; ... 1.6999 0.1826 -1.0877 -0.4412 2.0559 -0.7647 0.5306 0.2998 0.0066 0.0011 -0.0129 -0.0114 0.0280 -0.0100 0.0143 0.9892]; Bd = [ -0.0046 0.0051; ... 0.0030 -0.0050; ... 0.0021 -0.0055; ... 0.0003 -0.0013; ... 0.0135 -0.0203; ... -0.0009 0.0013; ... -0.0029 0.0057; ... -0.0027 0.0025; ... -0.0418 0.0237; ... 0.2058 -0.3294; ... 0.1332 -0.2531; ... -0.0336 0.0361; ... 0.7182 -1.1158; ... -0.1696 0.2652; ... -0.1790 0.3054; ... -0.0736 0.0799]; Cd = [ 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0; ... 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0]; ydes = [1; -2]; n = 16; m = 2;