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Transfer Function Models
Corresponding to each linear state space equation in the time domain with input u(t) and output y(t) is a matrix of transfer functions relating the Laplace tranforms of the input, U(s) to that of the output, Y(s). The transfer function matrix consists of (scalar) elements gij(s). For example if there are three inputs ( ie U(s) is of size 3×1 ) and there are four outputs ( ie Y(s) is of size 4×1 ) the transfer function matrix has the form
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