%%%
%%% Basic code for UIO and KF designs
%%%

%%%
%%% KF for output fault isolation
%%%

[Pkf,Ekf,Kkft] = dare(A',C',B*Q*B',R); % KF gain  
Kkf = Kkft';                                    

Akf = A - Kkf * C;
Bkf = [B Kkf];
Ckf = C;
Dkf = zeros(r,c); 

%%%
%%% UIO for input fault isolation
%%%

E = ...;
H = E*pinv(C*E);
T = eye(size(H*C)) - H*C;
K1  = place( (A-H*C*A)' , C', v )';
F = A-H*C*A - K1*C;
K2  = F*H;
K = K1 + K2;

Auio = F;
Buio = [T*B K];
Cuio = eye(n);
Duio = [zeros(r,c) H];

return