Gateway for robustness analysis and control design

fJ

The function $d=fJ(a,b,c)$ generates the matrix

$d=\left(\begin{array}{c}0_{c\times a}\\ I_{a} \\ 0_{b\times a} \end{array}\right)$

If $c$ is not specified, it is assumed to be zero
If only $a$ is specified, then $c$ is assumed to be zero and $b=a$ .