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  • $\begingroup$ This is a good answer, but I had already upvoted it. It's actually a really good answer. $\endgroup$ Commented Mar 20, 2024 at 15:56
  • $\begingroup$ The coordinate transformation used also changes the C and D matrices. Could you for completeness sake add those to your answer as well? $\endgroup$ Commented Mar 12 at 10:36
  • $\begingroup$ Echoing @fibonatic comment that C and D matrices are important to be defined in this method for an accurate match to C2D results. Assuming Cd=C and Dd=D does not yield the expected results $\endgroup$ Commented May 13 at 18:20
  • $\begingroup$ In response to comments by fibonatic and @AIS, I have added the matrices $C_\text{d}$ and $D_\text{d}$ for output. Sorry I wasn't able to get to this sooner. $\endgroup$ Commented May 14 at 14:40