ControlSystemToolbox

function sys = Sistem( Pr1 )
%UNTITLED3 Summary of this function goes here
%   Detailed explanation goes here
    g1 = tf(2,[1,4]);
    g2 = ss([3 1; 0 -1],[1 -2;1 -0.5],[0 2;0 -1],[2 0;0 -0.1]);
    g3 = tf([1,2],[2,16,12]);
    g4 = 1;
    if(Pr1 == 0),
        g5 = tf([1,2],[1,3,4]);
    else
        g5 = tf(4,[3,2,1]);
    end

    w1 = append(g1,g2,g3,g4,g5);

    veze = [1 2 0;
        2 -1 4;
        3 2 0;
        5 4 -6;
        6 5 0];

    ulazi = [2,4];

    izlazi = [3,5];

    sys = connect(w1,veze,ulazi,izlazi);

end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%% GLAVNI PROGRAM %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

>> T = 0.01;
>> t1 = 0:T:1-T;
>> t2 = 0:T:2-T;
>> u11 = [4*t1 4-3*t1 1+t1 2*ones(1,100) 2-2*t1];
>> u1 = [u11 u11];
>> u2 = [6*t1 6*ones(1,100) 6+2*t1 8-6*t1 2+2*t1 4-2*t1 2+2*t2 6-3*t2];
>> sys = Sistem(1);
>> t = 0:T:10-T;
>> y = lsim(sys, [u1' u2'],t);
>> plot(t,[u1' u2' y]);