State space realization for two degree of control problem
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I have plant model of the type shown below
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/739134/image.png)
The augmented system P consisting of G, Gd, W1, W2, Wd with inputs is shown below
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/739139/image.png)
The state function can be represented as
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/739144/image.png)
and
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/739149/image.png)
Now my question is how to extract the matrices Bw1, Bw2, etc.. from the augmented matrix P.
I am using the command augw(G*, W1,W2, WD) where G*=[G Gd]
Regards
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