function [Y,X] = sm2sr(A,B,C,D,T,u0,x0);
% [Y,X] = sm2sr(A,B,C,D,T,u0,x0);
% Constrained-state matrix to impulse response.
% A,B,C,D,E - (constrained) state matrices
% T vector of time points
% u0 input gain vector: u = u0*unit step.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
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[Ny,Nu] = size(D);
[Ny,Nx] = size(C);

if nargin<7
  u0 = zeros(Nu,1);
  u0(1) = 1;
end;

if nargin<8
  x0 = zeros(Nx,1);
end;

[N,M] = size(T);
if M>N
  T = T';
  N = M;
end;



one = eye(Nx);

Y = zeros(N,Ny);
X = zeros(N,Nx);
i = 0;
for t = T'
  i=i+1;
  if Nx>0
    expAt = expm(A*t);
    x = ( A\(expAt-one) )*B*u0 + expAt*x0;
    X(i,:) = x';
    if Ny>0
      y = C*x + D*u0;
      Y(i,:) = y';
    end;
  elseif Ny>0
    y = D*u0;
    Y(i,:) = y';
  end;
end;