%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%         Example 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [A,B,C,J,u] = getExampleData(swMode)    

%   mode 0  
A0=sym([.2  0.1   0  .1; ...
        0.2   1   0  .01; ...
        0.3  .2  .5  .1; ...
        0.1  .1  .1  .6]);
B0=sym([1;  0.2; 2;  1]);
C0=sym([3,  .7  1  .3]);

J10=sym([3   1   0   0; ...
        0.4  2  0.1  0.1; ...
        0.7  0.1  0  1]);

%   mode 1
A1=sym([0  -1 0; ...
        1  0,  0; ...
      0.1 0.1 .2]);
B1=sym([1;  .2;  0.01]);
C1=sym([-1, .1, 0.01]);
 
J21=sym([2,  0.1,  0; ...
       0.2,  3,  0.1; ...
       0,  0.01,  .2; ...
       0.1, .02,  1; ...
       0    0     1]);

%   mode 2
A2=sym([.8,  0.01,  0.02,  0.01  0; ...
        .07,  .1,   0.02,  0.1  0.2; ...
        0.1,  0.2,   .3,   0.01  0; ...
       0.02,  0.03,  0.02,   1  .01; ...
       0.1    0.01    0     0.1      1]);

B2=sym([1;  2;  0.1;  0.2;  0.01]);
C2=sym([-0.1,  -0.2,  0.2,  1 0.02]);

%    input
syms t;
u = @(t) input(t);

A= {A0,A1,A2};
B= {B0,B1,B2};
C= {C0,C1,C2};
J= {J10,J21};
end
%%