K=[-28e-4 .5 -11.2025 1.65 -187e-4 -7.0837 -.264 .58 .004 -6510e-4 1.28 .

1256;
-30e-4 .78 -8.2062 3.2054 -.036 -7.682 .2346 .91 9e-4 -6652e-4 2.314 1291e-4;
-2796e-4 4991e-4 -3103.25 -287.05 7.78 -965.7 11.968 58.022 .048 -31.4794 -52.91
6.1135;
1.28 15451e-4 2.53 1.63 3.36 -.302 1.97 1.6 3e-4 -.368 4.8603 .023;
22e-4 2.24 6.843 1.662 0.0141 -.8968 .0281 2.55 5e-4 1.1106 0.098 -2149e-4;
109e-4 1.52e-4 67.8248 -7.4203 -1954e-4 21.0053 .285 1.72 -20e-4 2.2502 4.47 -
4359e-4;
.8 .93e-4 2.04 .82 2.26 1.25 221.31 1.07 563e-4 1.2122 2.7634 1.0019;
-2744e-4 .485 -3053.87 281.139 8.54 -948.7 11.8 58.531 465e-4 -30.8414 -.009
6.0093;
-3080e-4 5656e-4 -3377.3005 319.99 3.5 -1059.65 -12.89 66.08 561e-4 -34.4602 21.93
6.7;
.36 .42 .91 0.37 1 .58 3.08 10.49 480e-4 617e-4 1.2301 4655e-4;
95e-4 1.214 2.63 -6.4259 -.038 20.112 .413 1.44 368 1.87 -4.12 -3615e-4;
-159e-4 6.35 13.75 5.55 12.97 -27.43 2.5 7.37 90e-4 -4.51 19.096 8732e-4]

teta=[5.4 5.39 5.35 5.4 4.63 5.37 25.37 8.97 5 8.94 13.5 2.97;
4.6 3.9 5.7 7.9 4.66 8.96 11.97 9.9 19.9 5.9 6.5 16.5;
11.43 11.44 15.44 10.42 7.32 11.45 11.44 19 10.4 19.1 12.5 19.1;
6.83 19.6 10.07 6.84 7.46 9.44 13.5 8.94 13.5 9.42 6.837 19.3;
4.9 7.9 7.73 6.46 34.64 5.65 17.73 9.85 13.13 2.6 13.07 20.4;
12.78 3.6 13.58 13.71 27.14 3.57 3.59 5.96 4.5 14.9 3.6 16.01;
4.6 4.6 8.25 4.6 8.25 6.4 2.4 4.6 9.67 16.86 13.7 7.35;
16.7 9 24.95 25.2 17.94 17.76 8.3 3.2 13 16.1 12.25 14.1;
11.4 4.6 25.88 16.3 16.8 23.24 15.4 7.92 12.02 33.5 9.6 9.03;
12.11 12 7.76 12.11 7.75 12.78 12.79 2.31 20.1 21.31 12.9 16.4;
12.22 12.06 11.62 12.25 17.6 16.3 15.64 20.7 1.83 18.4 9.8 8.4;
19.6 18.9 13.45 12.33 3.54 12.37 19 17.2 15 18.05 15 19.3]

tau=[43.07 43.07 38.39 23.06 21.05 44.94 86.56 70.6 69 79.36 43.58 34.7;
34.84 25.59 41.77 35 25.4 38.32 47.56 79.4 58 35.4 45.74 46.2;
55.6 58.48 54.42 99.82 42.93 73.91 83.99 64.32 29.48 63.9 63.1 48.3;
39.53 85.53 63.65 49.04 27.49 45.6 67.3 80.72 33.96 24.29 36.4 47.5;
75.35 65.9 83.2 41.59 81.36 37.54 84.9 32.96 48.7 14.29 33.05 56.4;
48.034 24.59 30.87 56.3 42.21 26.18 67.3 22.66 20.7 47.09 18.6 45.79;
12.94 15.64 40.8 22.5 21.5 14.09 20.5 20.45 41.99 22.83 26.8 28.61;
46.07 33.29 53.13 60.54 48.74 58.73 48.17 49.02 39.7 61.06 48.1 33.18;
37.02 26.44 98.29 42.87 56.83 79.72 45.05 55.2 48.4 81.2 37.9 62.78;
33.09 38.5 13.91 23.15 15.46 23.66 44.96 21.64 33.4 72.96 31.6 37.6;
69.98 88.68 55.12 37.47 40.18 45.29 46.45 41.92 20.7 44.5 62.7 56.35;
38.79 61.63 57.08 68.22 37.41 48.53 43.9 58.99 62 35.13 48.5 56.6]

G(1,1)=tf(-28e-4,[43.07 1],'InputDelay',5.4);G(2,1)=tf(-30e-4,[34.84
1],'InputDelay',4.6);
G(3,1)=tf(-2796e-4,[55.6 1],'InputDelay',11.43);G(4,1)=tf(1.28,[39.53
1],'InputDelay',6.83);
G(5,1)=tf(22e-4,[75.35 1],'InputDelay',4.9);G(6,1)=tf(109e-4,[48.034
1],'InputDelay',12.78);
G(7,1)=tf(.8,[12.94 1],'InputDelay',4.6);G(8,1)=tf(-2744e-4,[46.07
1],'InputDelay',16.7);
G(9,1)=tf(-3080e-4,[37.02 1],'InputDelay',11.4);G(10,1)=tf(.36,[33.09
1],'InputDelay',12.11);
G(11,1)=tf(95e-4,[69.98 1],'InputDelay',12.22);G(12,1)=tf(-159e-4,[38.79
1],'InputDelay',19.6);
G(1,2)=tf(.5,[43.07 1],'InputDelay',5.39);G(2,2)=tf(.78,[25.59
1],'InputDelay',3.9);
G(3,2)=tf(4991e-4,[58.48,1],'InputDelay',11.44);G(4,2)=tf(15451e-4,[85.53
1],'InputDelay',6.84);
G(5,2)=tf(2.24,[65.9 1],'InputDelay',7.9);G(6,2)=tf(1.52e-4,[24.59
1],'InputDelay',3.6);
G(7,2)=tf(.93e-4,[15.64 1],'InputDelay',4.6);G(8,2)=tf(.485,[33.29
1],'InputDelay',9);
G(9,2)=tf(5656e-4,[26.44 1],'InputDelay',9.38);G(10,2)=tf(.42,[38.53
1],'InputDelay',12);
G(11,2)=tf(1.214,[88.68 1],'InputDelay',12.06);G(12,2)=tf(6.35,[61.63
1],'InputDelay',18.9);
G(1,3)=tf(-11.2025,[38.39 1],'InputDelay',5.35);G(2,3)=tf(-8.2062,[41.77
1],'InputDelay',5.7);
G(3,3)=tf(-3103.25,[54.42 1],'InputDelay',15.44);G(4,3)=tf(2.53,[63.65
1],'InputDelay',10.07);
G(5,3)=tf(6.843,[83.2 1],'InputDelay',7.73);G(6,3)=tf(67.8248,[30.87
1],'InputDelay',13.58);
G(7,3)=tf(2.04,[40.8 1],'InputDelay',8.25);G(8,3)=tf(-3053.87,[53.13
1],'InputDelay',24.95);
G(9,3)=tf(-3377.3005,[98.29 1],'InputDelay',25.88);G(10,3)=tf(.91,[13.91
1],'InputDelay',7.76);
G(11,3)=tf(2.63,[55.12 1],'InputDelay',11.62);G(12,3)=tf(13.75,[57.08
1],'InputDelay',13.45);
G(1,4)=tf(1.65,[23.06 1],'InputDelay',5.4);G(2,4)=tf(3.2054,[35
1],'InputDelay',7.9);
G(3,4)=tf(-287.05,[99.82 1],'InputDelay',10.42);G(4,4)=tf(1.63,[49.04
1],'InputDelay',6.84);
G(5,4)=tf(1.662,[41.59 1],'InputDelay',6.46);G(6,4)=tf(-7.4203,[56.3
1],'InputDelay',13.71);
G(7,4)=tf(.82,[22.5,1],'InputDelay',4.6);G(8,4)=tf(281.139,[60.54
1],'InputDelay',25.2);
G(9,4)=tf(319.99,[42.87 1],'InputDelay',16.3);G(10,4)=tf(0.37,[23.15
1],'InputDelay',12.11);
G(11,4)=tf(-6.4259,[37.47 1],'InputDelay',12.25);G(12,4)=tf(5.55,[68.22
1],'InputDelay',12.33);
G(1,5)=tf(-187e-4,[21.05 1],'InputDelay',4.63);G(2,5)=tf(-.036,[25.4
1],'InputDelay', 4.66);
G(3,5)=tf(7.78,[42.93 1],'InputDelay',7.32);G(4,5)=tf(3.36,[27.49
1],'InputDelay',7.46);
G(5,5)=tf(0.0141,[81.36 1],'InputDelay',34.64);G(6,5)=tf(-1954e-4,[42.21
1],'InputDelay',27.14);
G(7,5)=tf(2.26,[21.5 1],'InputDelay',8.25);G(8,5)=tf(8.54,[48.74
1],'InputDelay',17.94);
G(9,5)=tf(3.5,[56.83 1],'InputDelay',16.8);G(10,5)=tf(1,[15.46
1],'InputDelay',7.75);
G(11,5)=tf(-.038,[40.18 1],'InputDelay',17.6);G(12,5)=tf(12.97,[37.41
1],'InputDelay',3.54);
G(1,6)=tf(-7.0837,[44.94 1],'InputDelay',5.37);G(2,6)=tf(-7.682,[38.32
1],'InputDelay',8.96);
G(3,6)=tf(-965.7,[73.91 1],'InputDelay',11.45);G(4,6)=tf(-.302,[45.6
1],'InputDelay',9.44);
G(5,6)=tf(-.8968,[37.54 1],'InputDelay',5.65);G(6,6)=tf(21.0053,[26.18
1],'InputDelay',3.57);
G(7,6)=tf(1.25,[14.09 1],'InputDelay',6.4);G(8,6)=tf(-948.7,[58.73
1],'InputDelay',17.76);
G(9,6)=tf(-1059.65,[79.72 1],'InputDelay',23.24);G(10,6)=tf(.58,[23.66
1],'InputDelay',12.78);
G(11,6)=tf(20.112,[45.29 1],'InputDelay',16.3);G(12,6)=tf(-27.43,[48.53
1],'InputDelay',12.37);
G(1,7)=tf(-.264,[86.56 1],'InputDelay',25.37);G(2,7)=tf(.2346,[47.56
1],'InputDelay',11.97);
G(3,7)=tf(11.968,[83.99 1],'InputDelay',11.44);G(4,7)=tf(1.97,[67.3
1],'InputDelay',13.5);
G(5,7)=tf(.0281,[84.9 1],'InputDelay',17.73);G(6,7)=tf(.285,[29.57
1],'InputDelay',3.59);
G(7,7)=tf(221.31,[20.5 1],'InputDelay',2.4);G(8,7)=tf(11.8,[48.17
1],'InputDelay',8.3);
G(9,7)=tf(-12.89,[45.05 1],'InputDelay',15.4);G(10,7)=tf(3.08,[44.96
1],'InputDelay',12.79);
G(11,7)=tf(.413,[46.45 1],'InputDelay',15.64);G(12,7)=tf(2.5,[43.9
1],'InputDelay',19);
G(1,8)=tf(.58,[70.6 1],'InputDelay',8.97);G(2,8)=tf(.91,[79.4 1],'InputDelay',9.9);
G(3,8)=tf(58.022,[64.32 1],'InputDelay',19);G(4,8)=tf(1.6,[80.72
1],'InputDelay',8.94);
G(5,8)=tf(2.55,[32.96 1],'InputDelay',9.85);G(6,8)=tf(1.72,[22.66
1],'InputDelay',5.96);
G(7,8)=tf(1.07,[20.45 1],'InputDelay',4.6);G(8,8)=tf(58.531,[49.02
1],'InputDelay',3.2);
G(9,8)=tf(66.08,[55.2 1],'InputDelay',7.92);G(10,8)=tf(10.49,[21.64
1],'InputDelay',2.31);
G(11,8)=tf(1.44,[41.92 1],'InputDelay',20.7);G(12,8)=tf(7.37,[58.99
1],'InputDelay',17.2);
G(1,9)=tf(.004,[69 1],'InputDelay',5);G(2,9)=tf(9e-4,[58 1],'InputDelay',19.9);
G(3,9)=tf(.048,[29.48 1],'InputDelay',10.4);G(4,9)=tf(3e-4,[33.96
1],'InputDelay',13.5);
G(5,9)=tf(5e-4,[48.7 1],'InputDelay',13.13);G(6,9)=tf(-20e-4,[20.7
1],'InputDelay',4.5);
G(7,9)=tf(563e-4,[41.99 1],'InputDelay',9.67);G(8,9)=tf(465e-4,[39.7
1],'InputDelay',13);
G(9,9)=tf(561e-4,[48.4 1],'InputDelay',12.02);G(10,9)=tf(480e-4,[33.4
1],'InputDelay',20.1);
G(11,9)=tf(368,[20.7 1],'InputDelay',1.83);G(12,9)=tf(90e-4,[62
1],'InputDelay',15);
G(1,10)=tf(-6510e-4,[79.36 1],'InputDelay',8.94);G(2,10)=tf(-6652e-4,[35.4
1],'InputDelay',5.9);
G(3,10)=tf(-31.4794,[63.9 1],'InputDelay',19.1);G(4,10)=tf(-.368,[24.29
1],'InputDelay',9.42);
G(5,10)=tf(1.1106,[14.29 1],'InputDelay',2.6);G(6,10)=tf(2.2502,[47.09
1],'InputDelay',14.9);
G(7,10)=tf(1.2122,[22.83 1],'InputDelay',16.86);G(8,10)=tf(-30.8414,[61.06
1],'InputDelay',16.1);
G(9,10)=tf(-34.4602,[81.2 1],'InputDelay',33.5);G(10,10)=tf(617e-4,[72.96
1],'InputDelay',21.31);
G(11,10)=tf(1.87,[44.5 1],'InputDelay',18.4);G(12,10)=tf(-4.51,[35.13
1],'InputDelay',18.05);
G(1,11)=tf(1.28,[43.58 1],'InputDelay',13.5);G(2,11)=tf(2.314,[45.74
1],'InputDelay',6.5);
G(3,11)=tf(-52.91,[63.1 1],'InputDelay',12.5);G(4,11)=tf(4.8603,[36.4
1],'InputDelay',6.837);
G(5,11)=tf(0.098,[33.05 1],'InputDelay',13.07);G(6,11)=tf(4.47,[18.6
1],'InputDelay',3.6);
G(7,11)=tf(2.7634,[26.8 1],'InputDelay',13.7);G(8,11)=tf(-.009,[48.1
1],'InputDelay',12.25);
G(9,11)=tf(21.93,[37.9 1],'InputDelay',9.6);G(10,11)=tf(1.2301,[31.6
1],'InputDelay',12.9);
G(11,11)=tf(-4.12,[62.7 1],'InputDelay',9.8);G(12,11)=tf(19.096,[48.5
1],'InputDelay',15);
G(1,12)=tf(.1256,[34.7 1],'InputDelay',2.97);G(2,12)=tf(1291e-4,[46.2
1],'InputDelay',16.5);
G(3,12)=tf(6.1135,[48.3 1],'InputDelay',19.1);G(4,12)=tf(.023,[47.5
1],'InputDelay',19.3);
G(5,12)=tf(-2149e-4,[56.4 1],'InputDelay',20.4);G(6,12)=tf(-4359e-4,[45.79
1],'InputDelay',16.01);
G(7,12)=tf(1.0019,[28.61 1],'InputDelay',7.35);G(8,12)=tf(6.0093,[33.18
1],'InputDelay',14.1);
G(9,12)=tf(6.7,[62.78 1],'InputDelay',9.03);G(10,12)=tf(4655e-4,[37.6
1],'InputDelay',16.4);
G(11,12)=tf(-3615e-4,[56.35 1],'InputDelay',8.4);G(12,12)=tf(8732e-4,[56.6
1],'InputDelay',19.3);