A = [-10 0 -100; 2 -2 0; 0 0.1 0.2];
B = [10; 0; 0];
C = [0 0 1];
D = [0];
T = [17.6 11.8 1; 11.8 1 0; 1 0 0];

Sy = ctrb(A, B)
Q = Sy * T
Af = inv(Q) * A * Q
Bf = inv(Q) * B

sysd = c2d(ss(A, B, C, D), 0.01);
Ad = sysd.A;
Bd = sysd.B;
Cd = sysd.C;
Dd = sysd.D;


Td = [2.775 -2.887 1; -2.887 1 0; 1 0 0];
Syd = ctrb(Ad, Bd)
Qd = Syd * Td
Afd = inv(Qd) * Ad * Qd
Bfd = inv(Qd) * Bd