function [A,B,C,D] = tgen
% System TGEN from
% This system is the turbogenerator example from the book:
% J.M Maciejowski: Multivariable Feedback Design Addison-Wesley, 1989
% It has 6 states, 2 inputs and 2 outputs.
% P J Gawthrop Jan 1998
A = [-18.4456 4.2263 -2.2830 0.2260 0.4220 -0.0951
-4.0977 -6.0706 5.6825 -0.6966 -1.2246 0.2873
1.4449 1.4336 -2.6477 0.6092 0.8979 -0.2300
-0.0093 0.2302 -0.5002 -0.1764 -6.3152 0.1350
-0.0464 -0.3489 0.7238 6.3117 -0.6886 0.3645
-0.0602 -0.2361 0.2300 0.0915 -0.3214 -0.2087];
B = [-0.2748 3.1463
-0.0501 -9.3737
-0.1550 7.4296
0.0716 -4.9176
-0.0814 -10.2648
0.0244 13.7943];
C = [0.5971 -0.7697 4.8850 4.8608 -9.8177 -8.8610
3.1013 9.3422 -5.6000 -0.7490 2.9974 10.5719];
D = zeros(2,2);