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Generate Figure 6-11:

tvec=0:(140/99):140;

compare(syscl,sysclr,tvec,{type=7})

f11=plot({keep,legend=["original","reduced"]})

Figure 6-11.  Step Response with wtbalance

Figures 6-9, 6-10, and 6-11 are obtained for 

wtbalance

 with the option 

"input spec"

. Evidently, there is little difference between this and the 

result with the option 

"match"

. One notices marginally better matching in 

the region of interest (0.1 to 5 rad per second) at the expense of matching 
at other frequencies. The weighted Hankel singular values again indicate 
that it is reasonable to seek a second order controller.