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Extract SISO control components from a 2-DOF PID controller

```
[C,X] =
getComponents(C2,looptype)
```

`[`

decomposes
the 2-DOF PID controller `C`

,`X`

] =
getComponents(`C2`

,`looptype`

)`C2`

into two SISO control
components. One of the control components, `C`

,
is a 1-DOF PID controller. The other, `X`

, is a
SISO dynamic system. When `C`

and `X`

are
connected in the loop structure specified by `looptype`

,
the resulting closed-loop system is equivalent to the 2-DOF control
loop.

For more information about 2-DOF PID control architectures, see Two-Degree-of-Freedom PID Controllers.