Continuous-time models can be specified in one of three forms: state space (`ss`), transfer function (`tf`), and zero-pole gain (`zpk`).

The commands for forming these models are

sys = ss(a,b,c,d) % state space sys = tf(num,den) % transfer function sys = zpk(z,p,k) % zero-pole-gain

where `sys` is the desired name of the model formed in each case. The `a,b,c,d` terms are the state space matrices. The `num` and `den` terms are vectors of polynomial coefficients, in decending order of powers in s. The `z` and `p` terms are row vectors of zero and pole locations (roots of numerator and denominator polynomials, respectively), while `k` is the gain term (note that this is not necessarily equal to the gain of the transfer function ...

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