function [Alfa,idz,odz,iodz,Poles_G]=decoupling_zeros(P,Q,R) %% Finding Poles of System: |P(s)|=0 s=sym('s'); % Symbolic parameter Alfa=roots(sym2poly(simplify(det(P)))); %% Finding Input Decoupling Zeros of System: idz S_idz=[P Q]; [SMMilan_idz,P_idz,Z_idz]=SmithMacMilan(S_idz); idz=roots(sym2poly(Z_idz));

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