Modern Control: State-Space Analysis and Design Methods textbook by Arie Nakhmani was published in 2020 by McGraw Hill.

MATLAB code is available here: CODE.ZIP

Errata

First printing:

Page 28, Formula 2.25: a_{n-1} in the top-right corner of the matrix instead of a_n

Page 29, Formula 2.28: a_{n-1} in the bottom-left corner of the matrix instead of a_n

Page 34, 7th line from the bottom (incorrect matrix):

Page 67, line 4 (the sign of the free coefficient 3 in the denominator should be negative):