%%
clc
% close all
% clear
warning('off','YALMIP:strict')

%defining state matrices of TS fuzzy system
m11 = 0.3;
m12 = 0.54;

m_h = 0.4;
m2 = 0.01;
m3 = 0.566;

c1 = 1.00;
c2 = 36.00;
c3 = 1.53;

k1 = 0.01;
k2 = 3667;
k3 = 1152;
  
K_f1 = 1*10^0*[ -0.7847    0.9661    0.4779    2.5148   57.20731   -0.02986];
K_f2 = 1*10^0*[-0.5412    1.2267    0.0208   1.6006   32.17388   -0.04072];  


A1=[0 0 0 1 0 0;
    0 0 0 0 1 0;
    0 0 0 0 0 1;
    -(k1+k2)/m11   k2/m11       0    -(c1+c2)/m11   c2/m11         0;
        k2/m2   -(k2+k3)/m2   k3/m2    c2/m2      -(c2+c3)/m2    c3/m2;
          0         k3/m3    -k3/m3       0         c3/m3       -c3/m3];

A2=[0 0 0 1 0 0;
    0 0 0 0 1 0;
    0 0 0 0 0 1;
    -(k1+k2)/m12 k2/m12 0 -(c1+c2)/m12 c2/m12 0;
    k2/m2 -(k2+k3)/m2 k3/m2 c2/m2 -(c2+c3)/m2 c3/m2;
    0 k3/m3 -k3/m3 0 c3/m3 -c3/m3];


B1=[0 0 0 0 +1/m2 -1/m3;
    0 0 0 0 -1/m_h 0]';
E1=[ 0;0;0;0;0;+1/m3];

B2=B1; 

E2=E1;

C1=[0 0 0 1 0 0];
C2=C1;