formatController.m
0f04f034218dmaster

formatController.m
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			function controller = formatController(K,order,orderTheta)
			if nargin == 2
			orderTheta = 1;
			end
			% Takes a TF, returns a structure with the good fields
			[num, den, Ts] = tfdata(K,'v');
			if nargin == 2
			if length(num) < order + 1
			num(order + 1) = 0;
			den(order + 1) = 0;
			end
			end
			poles = roots(den);

			idx = abs(abs(poles)-1) < 1e-5;

			controller.num = num';
			controller.Fx = 1;

			controller.den = poly(poles(~idx))';
			controller.Fy = poly(poles(idx));

			controller.Ts = Ts;


			if orderTheta > 1
			controller.num(1,orderTheta) = 0;
			controller.den(1,orderTheta) = 0;
			end
			end