This function find the abcd coefficients of Full-Order Darouach Observer of 1995 paper [1]
[a,b,c,d,rcon]=abcdcoeff(A,B,C);
Continuos matrices of descriptor system.
Desired poles of the observer
Coefficients
Given a Descriptor system in the form dxEdt=Ax+Bu y =Cx+Du if rank[E* ; C]=n, then exist coefficients a,b, c and d such that (for details consult [1]) aE + bC=In cE + dC=0
[1] M. Darouach and M. Boutayeb, (1995). Design of Observer for Descriptor Form. IEEE Transactions on Automatic Control. Vol. 70, pp. 1323-1327