Computing tracking

-->//
-->[L,M,T]=gfrancis(Plant,Model);
-->//    Stabilizing the plant
-->K=-ppol(F,G,-0.3*ones(1,nx));
-->// Bigsyst= closed loop system: um --> [yplant;ymodel].
-->// full state gain is [K, L - K*T] * (xplant, xmodel) + M * umodel
-->BigA=[F+G*K,G*(L-K*T);
-->      0*ones(nw,nx),A];
-->BigC=[H+J*K,J*(L-K*T);
-->      0*ones(ny,nx),C];
-->BigB=[G*M;
-->       B];
-->BigD=[J*M;
-->       D];
-->x0=ones(nx,1);
-->BigX0=[x0;xx0];
-->Bigsyst=dscr(syslin('c',BigA,BigB,BigC,BigD,BigX0),dt);
-->z=flts(uu(instants),Bigsyst);
-->plot2d([instants',instants'],..
-->       [totrack(1,:)',z(1,:)'],[1 2],'161',..
-->       'Signal to track@Computed signal@');
-->xtitle('tracking');