A =

   0.64376   0.58414
  -0.58414   0.41451

B =

  -1.43086
  -0.86908

C =

  -1.43086   0.86908

D = 0
delay = 0
sampleTime =  0.49749

function [PHI] = PHImatrix(C, A, Np)

  PHI = [];
  for i = 1:(Np)
    PHI = [PHI; C*A^i];
  endfor

endfunction

function [GAMMA] = GAMMAmatrix(C, A, B, Np, Nc)
  PHI = [];
  GAMMA = [];

  for j = 1:Nc
    for i = (1-j):(Np-j)

      if i < 0
        PHI = [PHI; 0*C*A^i*B];
      else
        PHI = [PHI; C*A^i*B];
      endif

    endfor

    % Add to PHI
    GAMMA = [GAMMA PHI];
    % Clear F
    PHI = [];
  endfor

endfunction

PHI =

  -1.4288e+00  -4.7558e-01
  -6.4199e-01  -1.0317e+00
   1.8939e-01  -8.0267e-01
   5.9079e-01  -2.2208e-01
   5.1005e-01   2.5305e-01
   1.8053e-01   4.0283e-01
  -1.1909e-01   2.7243e-01
  -2.3580e-01   4.3360e-02
  -1.7713e-01  -1.1977e-01
  -4.4066e-02  -1.5311e-01
   6.1070e-02  -8.9206e-02
   9.1423e-02  -1.3032e-03
   5.9615e-02   5.2863e-02
   7.4983e-03   5.6735e-02
  -2.8314e-02   2.7897e-02
  -3.4523e-02  -4.9758e-03
  -1.9318e-02  -2.2229e-02
   5.4858e-04  -2.0498e-02
   1.2327e-02  -8.1762e-03
   1.2712e-02   3.8115e-03

GAMMA =

 Columns 1 through 13:

   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000
   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000
   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000
   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000
  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000
  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207
  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772
  -0.06004  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659   1.81526
   0.01627  -0.06004  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234   0.42659
   0.05372   0.01627  -0.06004  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974  -0.65234
   0.04696   0.05372   0.01627  -0.06004  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841  -0.94974
   0.01703   0.04696   0.05372   0.01627  -0.06004  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636  -0.60841
  -0.01053   0.01703   0.04696   0.05372   0.01627  -0.06004  -0.13124  -0.12968  -0.00986   0.19612   0.35753   0.29972  -0.06636

 Columns 14 through 19:

   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   0.00000   0.00000   0.00000   0.00000   0.00000   0.00000
   1.29207   0.00000   0.00000   0.00000   0.00000   0.00000
   2.45772   1.29207   0.00000   0.00000   0.00000   0.00000
   1.81526   2.45772   1.29207   0.00000   0.00000   0.00000
   0.42659   1.81526   2.45772   1.29207   0.00000   0.00000
  -0.65234   0.42659   1.81526   2.45772   1.29207   0.00000
  -0.94974  -0.65234   0.42659   1.81526   2.45772   1.29207
  -0.60841  -0.94974  -0.65234   0.42659   1.81526   2.45772

U = pinv(GAMMA)*(10-PHI*[0;0])
U =

    7.750235
   -7.015348
   10.210356
   -4.402780
    8.019733
   -2.570849
    6.493599
   -1.306446
    5.454418
   -0.462480
    4.781299
    0.059228
    4.395937
    0.319370
    4.253504
    0.348207
    4.337430
    0.149095
    4.595100

U = pinv(GAMMA)*(10/2-PHI*[0;0])
U =

   3.875117
  -3.507674
   5.105178
  -2.201390
   4.009867
  -1.285425
   3.246800
  -0.653223
   2.727209
  -0.231240
   2.390649
   0.029614
   2.197969
   0.159685
   2.126752
   0.174103
   2.168715
   0.074547
   2.297550