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Spitsplat

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Do anyone know of good online reference material i could possible use?

Also... And if someone out there knows anything about state-space... is it possible to have your inputs inside your input matrix... For instance.

I have 6 coupled equations... each having some terms resembling the term described below:

(A^2+B^2)sin(alpha)*constants... the problem i have is that I'm having to make (A+B) and apha a input (using the control algorithm I'm expected to use)... Now I can't work out how to place these terms into the input matrix form... any suggestions would be amazing?