%   make up second system with different sigma





sig=-.00005;

solvex

ao=ao*(sqrt(beta));

%kk=[kg' kg2];

kk=k;

kk'*q*kk


ret=r+ kk'*q*kk;   %  return matrix

ret=ret+.0000001*eye(8);   % return matrix made full rank with trick
hh=chol(ret);d=zeros(8,3);
clear ss
sys2=ss(ao,c,hh,d,1)

