function [G,NY,NU,delaym,Ts]=model_system 
Tg1=.08;
a12=.272;
Tt1=.2;
M1=.2;
D1=.006;
T12=.272;
R1=2.2;

Tg2=.08;
Tt2=.24;
M2=.167;
D2=.0083;
R2=2.23;
ThSat=.2;
T=0.01;
A=[-1/Tg1   0       -1/(Tg1*R1)   0       0       0       0;
    1/Tt1   -1/Tt1  0             0       0       0       0;
    0       1/M1    -D1/M1        -a12/M1 0       0       0;
    0       0        T12          0       0       0       -T12;
    0       0        0            0      -1/Tg2   0       -1/(Tg2*R2);
    0       0        0            0      1/Tt2    -1/Tt2  0;
    0       0        0            1/M2     0       1/M2       -D2/M2];
B=[1/Tg1 0;0 0;0 0;0 0;0 1/Tg2;0 0;0 0];
Bw=[0 0;0 0;-1/M1 0;0 0;0 0;0 0;0 -1/M2];
C=[0 0 1 0 0 0 0;0 0 0 a12 0 0 0];
D=0;
G=tf(ss(A,B,C,D));
% s = tf('s');
% G =[2*(s+3)/((s+1)*(s+2)) 0.5/(s+1);1/(s+2) (s+2)/((s+3)*(s+4))];
[NY,NU]=size(G);
delaym=zeros(NY,NU);
Ts=0.1;