MATRIXx is designed as a software system to perform all the steps in the control design cycle starting from system modeling to data analysis, identification, control synthesis and simulation. The package features a powerful matrix interpreter, a user-friendly environment with device independent graphics, state-of-the-art numerical algorithms for reliable computations and user-transparent file management. The program is implemented in ANSI-77 FORTRAN, and is designed to run on any allowing interactive execution of FORTRAN programs.
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Walker et al. (1982) studied this question.
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