num = [-1.117 3.1472]; den = [1 4.6429 5.3821];
G = tf(num,den);
Ts = 0.1;
[B,A,k] = myc2d(G,Ts);
alpha = 0.5;
[k,HiN,HiD,R,S] = imc_stable(B,A,k,alpha);
[zk,dzk] = zpowk(k);
Bp = B; Ap = A;