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. Nys+nc, Nx-Nys)]; % The non-singular transformation, T{i}=pinv(Cy_tilde{i})*[eye(Nys+Nc),zeros

=. A_final{i}, T{i})*A_chapeau{i}*T{i}; % These matrices % are noted "tilde

N. For-i-=nx-nys and *. .. B_final{i}-'+b_final{i}, [Wy';zeros(Nx-Nys, Bw_final{i}' -eye(Nomega) ... (1/GAMMA)*Dzw_final{i}';... (1/GAMMA)*Cz_final{i}*Q ... (1/GAMMA)*Dzw_final{i} -eye

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