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function sl=cont_frm(num,den)
//Controllable state-space form of the transfer num/den
//!
// Copyright INRIA
[lhs,rhs]=argn(0)
if size(den,'*')<>1 then error(54,2);end
[ns,ne]=size(num);
if type(num)==1 then
if type(den)==1 then
sl=syslin([],[],[],[],num./den,[])
return
else
num(1,1)=poly(num(1,1),varn(den),'c'),
end
end
nd=degree(den);
// normalization
dnd=coeff(den,nd);den=den/dnd;num=num/dnd
// D(s)
for l=1:ns,
for k=1:ne,
[nl,dl]=pdiv(num(l,k),den),
num(l,k)=nl,d(l,k)=dl,
end,
end
if maxi(degree(d))==0 then d=coeff(d),end
//matrices a b and c
if nd<>0 then
den=coeff(den);c=coeff(num,0:nd-1)
a=[];
for k=1:nd,a=[a,-den(k)*eye(ne,ne)];end
a=[0*ones((nd-1)*ne,ne),eye(ne*(nd-1),ne*(nd-1));a];
b=[0*ones((nd-1)*ne,ne);eye(ne,ne)]
else
a=[];b=[];c=[]
end;
[n,n]=size(a);
sl=syslin([],a,b,c,d,0*ones(n,1))
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