% ---- rscale.m ----
% 求取輸入輸出匹配系數(shù)
function[Nbar] = rscale(A,B,C,D,K) 
s = size(A,1);
Z = [zeros([1,s]) 1];
N = inv([A,B;C,D])*Z';
Nx = N(1:s);
Nu = N(1+s);
Nbar = Nu + K*Nx;
% ------ end ------