% 
% Example 8.6 and Figure 8.2
%
A=[0 1; -6 -5];
B=[0;1];
C=[1 0]
D=0
x0=[1;0]
t=0:0.1:5;
f=exp(-4*t);
[y,x]=lsim(A,B,C,D,f,t,x0);
plot(t,x)
grid
xlabel('time in seconds')
ylabel('system state response')
text(1.6,0.16,'x1(t)')
text(1.6,-0.25,'x2(t)')
print -deps fig8_2.eps