BuildLinearDF:

-------------------------------------------------------------------------------
   Create a detection filter for a fully measured system.
   The filter is of the form:

   y[k]   = c*x[k]
   x[k+1] = a*x[k] + D*(y[k] - c*x[k]) + b*u[k]

   c is the identiy matrix in this case.

-------------------------------------------------------------------------------
   Form:
   [d, a, b] = BuildLinearDF( a, b, states, inputs, lambda, dT )
-------------------------------------------------------------------------------

   ------
   Inputs
   ------
   a			        (n,n)  Continuous plant matrix
   b                   (n,m)  Continuous input matrix
   states              {n}    Cell array of state names
   inputs              {m}    Cell array of input names
   lambda       		(1,1)  Inverse time constant

   -------
   Outputs
   -------
   d			        (:)   Detection filter
                        .g   plant
                        .d   gain matrix
                        .t   transformation matrix
   a			        (n,n) Discrete plant matrix
   b                   (n,m) Discrete Input matrix

-------------------------------------------------------------------------------

Children:

Common: Classes/@statespace/statespace.m
Common: Control/C2DZOH
Common: Control/CToD
Estimation: FDIR/DetectionFilterBuild