% =========================================================================
%   Praktikum MATLAB/Simulink II
%   Technische Universität Darmstadt
%   IAT, FG rtm (Prof. Dr.-Ing. U. Konigorski)
%
%   Copyright (c) 2017, FG Regelungstechnik und Mechatronik,
%                       Technische Universität Darmstadt
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% =========================================================================

oberer AP
diagonalForm
ans =
     1

ans =
    1.0000

ans =
    1.0000

ans =
     1

AD =
         0   -0.0000   -0.0000   -0.0000
         0   -0.1936   -0.0000   -0.0000
         0   -0.0000   -6.3161    0.0000
         0    0.0000   -0.0000    5.7887

BD =
    0.7143
    0.7275
    0.2809
    0.2420

CD =
    1.0000   -0.9818   -0.0008    0.0008
         0    0.0037   -0.1564    0.1702

DD =
     0
     0

canon
AD =
         0         0         0         0
         0   -0.1936         0         0
         0         0   -6.3161         0
         0         0         0    5.7887

BD =
    0.3571
    0.6584
    0.3284
    0.2899

CD =
    2.0000   -1.0848   -0.0007    0.0007
         0    0.0041   -0.1337    0.1421

DD =
     0
     0

unterer AP
canon
AD =
         0         0         0         0
         0   -0.1936         0         0
         0         0   -0.2637    6.0408
         0         0   -6.0408   -0.2637

BD =
    0.3571
   -0.6585
   -0.5137
    0.0562

CD =
    2.0000    1.0847    0.0000    0.0008
         0   -0.0042   -0.0127   -0.1647

DD =
     0
     0