new file mode 100644
--- /dev/null
+++ b/scripts/control/mb.m
@@ -0,0 +1,40 @@
+# $Revision: 1.1 $
+
+Ap = [0 1;1960 0];
+Bp = [0;-6261];
+Cp = [1 0];
+Dp = 0;
+
+Gp = ss2sys(Ap,Bp,Cp,Dp,0,2,0,[],"delta_i","delta_y");
+Gp = syschnames(Gp,"st",1,"delta_x1");
+Gp = syschnames(Gp,"st",2,"delta_x2");
+
+Ak = [-20 1;-22160 -200];
+Bk = [-20;-2160];
+Ck = [-3.5074 -0.0319];
+Dk = 0;
+
+Gk = ss2sys(Ak,Bk,Ck,Dk,0,2,0,[],"y","i");
+Gk = syschnames(Gk,"st",1,"x1");
+Gk = syschnames(Gk,"st",2,"x2");
+
+Gc = sysgroup(Gp,Gk);
+
+Gc = sysdup(Gc,[],[1 2]);
+# Gc = sysscale(Gc,[],diag([1,1,1,1]));
+
+Gc = sysconnect(Gc,[1 2],[4 3]);
+Gc = sysprune(Gc,1,[1 2]);
+
+disp("after pruning, closed loop system is")
+sysout(Gc)
+
+# Gc = sysdup(Gc,[],2);
+# Gc = sysconnect(Gc,1,3);
+# Gc = sysprune(Gc,1,1);
+
+is_stable(Gc)
+eig(Gc.a)
+
+Acl = [Gp.a, -Gp.b*Gk.c; Gk.b*Gp.c, Gk.a]
+eig(Acl)