ss2zp SIMO state space system to zero pole gain representation

## Syntax

    [z, p, k] = ss2zp(S)

## Arguments

S

  a single input linear system in state space representation.

z

  a matrix, the ith column contains the transmission zeros relative to the ith output.

p

  a column vector, the poles of the system

k

  a column vector, the ith element contains the gain relative to the ith output.

## Description

Converts a SIMO state space system into zero pole gain representation.

The zeros and gain are computed using the upper triangular Kronecker form (see kroneck) of the matrix pencil \left[\begin{array}{ll}A-s I& B\\C & D\end{array}\right]

## Examples

    a=[ 0.9, 0,   -4.2;
        0.2, 0.1,  0.6;
        6.4, 0.1,  -4];

    b=[-0.1;0;-0.1];
    c=[2,0,-2;0,-1,3];
    d=[2;0];
    S=syslin('c',a,b,c,d);
    [z,p,k]=ss2zp(S)

    h=ss2tf(S(1,1))
    roots(h.num)

## References

A. Emami-Naeini, P. Van Dooren "CComputation of zeros of linear multivariable systems" Automatica. Vol. 18, 1982, p. 415

## See Also

- trzeros
- systmat
- kroneck
- zp2ss

## History

6.0

Function added.