function [Sf,Sp,Kmat] = smatgen(s,p,m,n,lambda)
%
% b.w. bequette
% 28 Sept 00
% revised 2 Oct 00
% generates dynamic matrix and feedback gain matrix
% assumes s = step response column vector
% Sf = Dynamic Matrix for future control moves (forced)
% Sp = Matrix for past control moves (free)
%
% first, find the dynamic matrix
  for j = 1:m;
	  Sf(:,j) = [zeros(j-1,1);s(1:p-j+1)];
  end
%
% now, find the matrix for past moves
%
  for i = 1:p;
	  Sp(i,:) = [s(i+1:n-1)' zeros(1,i-1)];
  end
% 
% find the feedback gain matrix, Kmat
%
  Kmat = inv(Sf'*Sf + lambda*eye(m))*Sf';