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function [Y,X] = sm2ir(A,B,C,D,T,u0,x0);
% sm2ir - Constrained-state matrix to impulse response.
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %%%%% Model Transformation Tools %%%%%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
% Matlab function sm2ir
% [Y,X] = sm2ir(A,B,C,D,T,u0,x0);
% Constrained-state matrix to impulse response.
% u0 input gain vector: u = u0*unit step.
% u0 input gain vector: u = u0*unit impulse.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[Ny,Nu] = size(D);
[Ny,Nx] = size(C);
if max(max(abs(D)))~=0
mtt_info('D matrix non-zero - ignoring');
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one = eye(Nx);
Y = zeros(N,Ny);
X = zeros(N,Nx);
dt = T(2)-T(1);% Assumes fixed interval
expAdt = expm(A*dt); % Compute matrix exponential
expAt = one;
i = 0;
x = (B*u0+x0);
for t = T'
i=i+1;
if Nx>0
expAt = expm(A*t);
x = expAt*(B*u0+x0);
% expAt = expm(A*t);
x = expAdt*x;
X(i,:) = x';
if Ny>0
y = C*x;
Y(i,:) = y';
end;
end;
end;
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