ts = 50;  % Total simulation time (s)
Tc = 0.1; % Sampling time (s)

r = 1; % 1 input

A = [0.9944 -0.1203 -0.4302;
     0.0017  0.9902 -0.0747;
     0       0.8187  0];
 
 
B = [0.4252 -0.0082 0.1813]';

C = eye(3); % m = 3 outputs

D = zeros(3,1); % zeros(m,r) r = 1, (1 input)

x0 = [0.05 0.15 0.2];

c1 = C(1,:); % 1st row of C
c2 = C(2,:); % 2nd row of C
c3 = C(3,:); % 3rd row of C

v = [0.86 0.87 0.88]; % Observer eigenvalues: 
                      % they are the same for all
                      % observers, but they can be 
                      % also different

tf1 = ts/2;           % Fault starting time
tf2 = ts/2;
tf3 = ts/2;

%
% Observability condition verification
% the observability matrix needs to have rank = 3
%
% rank(obsv(A,c1)) == 3
% rank(obsv(A,c2)) == 3
% rank(obsv(A,c3)) == 3
%

K1 = place(A',C(1,:)',v)'; % It computes the gain so that 
                       % the matrix A-Ki*Ci has eigenvalues = to v
K2 = place(A',C(2,:)',v)';

K3 = place(A',C(3,:)',v)';

Ao1 = A - K1*c1; Bo1 = [B K1]; Co1 = c1; Do1 = zeros(1,r+1);
Ao2 = A - K2*c2; Bo2 = [B K2]; Co2 = c2; Do2 = zeros(1,r+1);
Ao3 = A - K3*c3; Bo3 = [B K3]; Co3 = c3; Do3 = zeros(1,r+1);

return