[num1, den] = sstf (A_,B_,C_,D_,1)
[num2, den] = sstf (A_,B_,C_,D_,1)
G11=tf(num1(1,:),den)
G12=tf(num1(2,:),den)
G13=tf(num1(3,:),den)
G21=tf(num2(1,:),den)
G22=tf(num2(2,:),den)
G33=tf(num2(3,:),den)

%stabilnost
p=eig(A_)

%upravljivost i osmotrivost
rank (ctrb(A_,B_))

rank (obsv(A_,C_))

%neprigusene
w_n1=abs(p(1))
w_n2=abs(p(3))

T_n1=2*pi/w_p1
T_n2=2*pi/w_p2

f_n1=1/T_n1
f_n2=1/T_n2

%prigusene

w_p1=abs(imag(p(1)))
w_p2=abs(imag(p(3)))

T_p1=2*pi/w_p1
T_p2=2*pi/w_p2

f_p1=1/T_p1
f_p2=1/T_p2