function sys = designTSOB(A, B, C, Aa, Ba, L1, L2, K, T)
% sys = designTSOB(A, B, C, Aa, Ba, L1, L2, K, T)
%
% Calculates the design model for the tracking system with full order
% observer. 
%
% INPUT
%   A, B, C     Plant Model
%   Aa, Ba      Additional Dynamics model
%   L1          Plant gains
%   L2          Additional dynamics gains
%   K           Observer gains
%   T           Sampling time
% OUPUT
%   sys         The design model
%
% AUTHOR: tderensis

[n, m] = size(B);
q = length(Aa);

A_d = [  A       -B*L1      B*L2;
        K*C   (A-K*C-B*L1)  B*L2;
        -Ba*C  zeros(q,n)    Aa  ];
B_d = [ zeros(2*n, m);
        Ba ];
C_d = [C zeros(m,n+q)];
D_d = zeros(m);
sys = ss(A_d, B_d, C_d, D_d, T);