%This program implements the algorithm reported in

%M. Aldeen & H. Trinh, Combined modal and singular perturbation approach to dece
ntralised control, Int. J. Systems Science,
%1992, vol. 23, no. 5, pp. 741-764
% Author: M. Aldeemn
%Constructing the system matrices A,B,C, and D (equ 2.1)
A1 =
A2 =
;0.1
A3 =
A4 =

[0 1; -4 -2] ; A12 = [0 0.4 0.5 ; 0 0 -0.6 ] ; B1 = [0 ; 1] ; C1 = [1 0] ;

[0 1 0;0 0 1; -17 -8 -5] ; A21 = [0 0;-0.4 0; -0.5 0.6]; A23 = [0 -0.5; 0 0
0]; A24 = [0.3 0; 0 0; 0 0] ; B2 = [0;0;1]; C2 = [0 0 1] ;
[0 1;-1 -2]; A32 = [0 0 -0.1;0.5 0 0]; B3 =[0;1] ; C3 =[0 1];
[0 1;-9 -20] ; A42 =[-0.3 0 0;0 0 0]; B4=[0;1]; C4= [1 0];

A = [A1 A12 zeros(2,4) ;

A21 A2 A23 A24 ;
zeros(2,2) A32 A3 zeros(2,2);
zeros(2,2) A42 zeros(2,2) A4 ];
B = blkdiag(B1,B2,B3,B4);
% Determining the similarity matrix and eihenvalues
[M,D] = eig(A) % where A*M=M*D
% Transforming the system in the modal form (equ. 3.2)
Bt = inv(M)*B ;
U = [1;1;1;1]; % Step input applied to the system only u(1) = 1 ;
% z_ss = -inv(D)*Bt*U ; % Steady state values
% x_ss = M*z_ss ;
z_ss= abs(inv(D))*abs(inv(M))*B*[1;1;1;1];
[nn mm]= size(B) ;
% To construct Eigenvalue contribution matrix W(i,j)
for i=1:nn
for j=1:nn
W(i,j) = abs(M(i,j)*z_ss(j)) ;
end
end
W=W'