function [Ad, Bd, Cd, Hs, Hdz, Yfz, Yft] = SLD(a,b,c)
    sym s;
    imp = simplify(inv(s*eye(a) - a));
    Ts = c*imp*b;
    syms h;
    Ad = simplify(ilaplace(imp, s, h));
    Bd = int((Ad * b), 0, h);
    Cd = C;
    syms z;
    syms k;
    Hs = ilaplace((Ts/s,s,h,h*k));
    Hdz = simplify((z-1)/z*trans(Hs,z));
    Yfs = simplify(Hdz *(z/z(z-1)));
    Yft = iztrans(Yfz,z,s);
end