State space realization for two degree of control problem

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Shambhu Prasad 2021-9-15

I have plant model of the type shown below

The augmented system P consisting of G, Gd, W1, W2, Wd with inputs is shown below

The state function can be represented as

and

Now my question is how to extract the matrices Bw1, Bw2, etc.. from the augmented matrix P.

I am using the command augw(G*, W1,W2, WD) where G*=[G Gd]

Regards

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R2018b

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