function [Ai,Bi] = system_example_1(a,b)
%function [Ai,Bi] = system_example_1(a,b)
% Continuous-time Takagi-Sugeno fuzzy system used for state feedback design in example 1. This
% systems was also used in (Fang et al., IEEE-TFS, 2006), Example 1.

A1 = [1.59 -7.29;0.01 0];
A2 = [0.02 -4.64;0.35 0.21];
A3 = [-a -4.33;0 0.05];

B1 = [1;0];
B2 = [8;0];
B3 = [-b+6;-1];

Ai = [A1 A2 A3];
Bi = [B1 B2 B3];