function [temps,Ao,Bo,Co,Do]=cleanss(Ao,Bo,Co,Do)
% Function CLEANSS
%[temps,Ao,Bo,Co,Do]=cleanss(Ao,Bo,Co,Do)
%Cleans state space representation by removing unnecessary and loosely
%coupled state relations. Ao,Bo,Co and Do are the system matrices.

checkcompatibility(Ao,Bo,Co,Do)
clean(Ao);
clean(Bo);
clean(Co);
clean(Do);
temps=minreal(sminreal(ss(Ao,Bo,Co,Do)));
Ao=temps.a;
Bo=temps.b;
Co=temps.c;
Do=temps.d;
clean(Ao);
clean(Bo);
clean(Co);
clean(Do);
function y=clean(y)
y(find(abs(y)<1e-10*max(max(abs(y)))))=0;
return