clc format short c2 320000 c1 1280000 c0 1280000 a5 a4 450 36 a3 20162

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clc;
format short e;
c2=320000;
c1=1280000;
c0=1280000;
a5=1;
a4=450.36;
a3=20162.024;
a2=7210.7984;
a1=479.28;
a0=32;
k=40000;
a=[0 1 0 0 0;
0 0 1 0 0;
0 0 0 1 0;
0 0 0 0 1;
-a4 -a3 -a2 -a1 -a0]
b=[0;
0;
0;
0;
1]
c =[c0 c1 c2 0 0]
num=[-1/0.5 -1/0.5];
den=[1/25 -1/5 -1/5 1/0.02 1/0.0025];
sys=zpk(num,den,k);
h=ss(sys);
[a1,b1,c1,d1]=ssdata(h);
%Co=ctrb(h)
Co=[b a*b a*a*b a*a*a*b a*a*a*a*b]
n_Co=rank(Co)
Ob=[c;
c*a;
c*a*a;
c*a*a*a;
c*a*a*a*a]
n_Ob=rank(Ob)