SSFromNonlinear:

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   Computes state space matrices from a nonlinear function.  
   This function computes state space matrices from f(x,t,u,varargin).
   The RHS must be of the form f(x,t,u,varargin).

   Since version 10.
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   Form:
   [a, b] = SSFromNonlinear( f, x, t, u, k, varargin )
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   ------
   Inputs
   ------
   f              (1,:)  Dynamical function name
   x              (n,1)  Nominal state
   t              (1,1)  Time
   u              (m,1)  Nominal control
   kUse           (1,:)  States to use
   varargin              Arguments passed to f

   -------
   Outputs
   -------
   a              (n,n)  State matrix
   b              (n,m)  Input matrix

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Children:

Common: DemoFuns/DoubleIntegratorRHS
Common: DemoFuns/OscillatorRHS