SS2ND:

--------------------------------------------------------------------------
   Converts from state space to numerator denominator form.

   Creates a transfer function model of a state-space system from
   one input channel to all of the output channels using
   the relationship

                       det(sI-A+bc) - (1-d)det(sI-A)
   c*inv(sI-A)*b + d = -----------------------------
                               det(sI-A) 

   where c is a row vector and b a column vector.

   Since version 1.
--------------------------------------------------------------------------
   Form:
   [num, den] = SS2ND( a, b, c, d, iu )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   a                   Plant matrix
   b                   Input column vector
   c                   Output row vector
   d                   Feedthrough element
   iu                  Input channel

   -------
   Outputs
   -------
   num                 Numerator polynomial(s) one output per row
   den                 Denominator polynomial

--------------------------------------------------------------------------
	References:	Kalaith, T., Linear System, Prentice-Hall, Englewood-Cliffs,
               NJ, 1980.
--------------------------------------------------------------------------

Children:

Common: Control/SizeABCD
Math: Linear/DelLZ