clear;j1=0.03;j2=0.6;c=0.25;k=35;kp=1;A=[-c/j1,c/j1,-k/j1,0;c/j2,-c/j2,k/j2,1/j2;1,-1,0,0;0,0,0,0];B=[1/j1;0;0;0];C=[1,0,0,0];% Tc=ctrb(A,C);% To=obsv(A,C);% n=size(A);% rc=rank(Tc);% ro=rank(To);j12=(j1+j2)/j1/j2;delta=j12j12cc-4j12k;x0=-k/c;z0=0;z1=(-j12c+sqrt(delta))/2;z2=(-j12c-sqrt(delta))/2;%G...