clear;
% x= [alpha V q Vz deltaq N1]
% model at V =200 m/s H = 7100 m (altitude)
% 
%
% control of forward speed V and vertical speed Vz
% with decoupling between V and Vz
% V step of 2.5 m/s |DELTAVz| must be less than 0.7m/s
% Vz step of 3.5 m/s |DELTAV| must be less than 0.1m/s
%
%
% alpha:  angle of attack
% V:      forward speed
% q:      pitch rate
% Vz:     vertical speed
% deltaq: aileron
% N1:     trust
%
% measurements
% Nzm: vertical acceleration
% qm:  pitch rate
% Vm:  forward speed
% Vzm: vertical speed

% definition de A:

a=[-6.1222e-01  -3.1270e-02   9.8856e-01  0.e00     -3.2160e-02   -5.600e-04;
   -6.6540e-02  -6.02e-03     0.e00      -4.79e-02  -3.5e-03     2.842e-02;
   -6.9481e-01  6.84e-03     -7.4661e-01   0.e00    -1.5115       9.99e-03;
   2.1876e00    1.1174e-01    4.0860e-02   0.e00     1.1493e-01   2.01e-03;
   0.e00        0.e00         0.e00       0.e00      -1e01        0e00;
   0.e00        0.e00         0.e00       0.e00      0e00         -1.25e00;
   ];
% definition de B:
   b=zeros(6,2);
   b(5,1)=10;
   b(6,2)=1.25;
% definition de C: 
   c=[0.19296  0.01169 -0.02812   0     -0.05364   0.00064;
      0         0         1       0      0         0      ;
      0         1         0       0      0         0      ;
      0         0         0       1      0         0      ;
      ];

% definition de C 
d=zeros(4,2);