% A-matrisen
A_21 = ((Balanduino.g*(Balanduino.m+Balanduino.M))/(Balanduino.d*Balanduino.M));
A_24 = (1/(Balanduino.r*(Balanduino.d*Balanduino.M)));
A_31 = (Balanduino.g*Balanduino.m/Balanduino.M);
A_34 = (1/(Balanduino.r*Balanduino.M));
A_43 = ((-Balanduino.Ku*Balanduino.Km)/(Balanduino.r*Balanduino.La));
A_44 = (-Balanduino.Ra/Balanduino.La);
A = [0      1     0     0;
     A_21   0     0     A_24;
     A_31   0     0     A_34;
     0      0     A_43  A_44];

% B-vektorn
B_4 = Balanduino.Km/Balanduino.La;
B = [0;
     0;
     0;
     B_4];

% C-vektorn
C = [1 0 0 0];