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0 0 -twokm_L twokm_L 0 0;]; % structured feedback matrix K of example 5.1
K1=[ki1 kp1 kd1];
K2=[ki2 kp2 kd2];
K3=twokm_L;
[r,TC,TR]=algo1_facK(K,{K1,K2,K3}); % factorize K=TCKDTR, where KD is block diagonal matrix with diagonal blocks of K1, K2, K3; TC, TR are constant matrices.