function [A,B,C,D]=clp(kc,ti);
% PI Control of 2nd order process 
% with 1st order sensor dynamics
%
% By: JCCK and SP
% Rev.: Nov 19, 1996


%% Closed loop model

% controller
%  kc=10; 
%  ti=2;
% closed loop
A = [0 0 0 -1;
     kc/ti  -1  0  -kc;
       0     1  -1  0;
       0     0  10  -10];
B=[1 kc 0 0]';
C=[0 0 0 1];
D=0;

