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);