G = [1 -2.1 -5.8]; dG = 2;
A = [1 -1.7 1]; dA = 2;
F = [-2.43 2.9]; dF = 1;
B = [0 0 -1 2]; dB = 3;
Delta = [1 -1]; dDelta = 1;
kI = 0.4;
[GA,dGA] = polmul(G,dG,A,dA);
[FB,dFB] = polmul(F,dF,B,dB);
[GAFB,dGAFB] = poladd(GA,dGA,FB,dFB);
[GAFB2,dGAFB2] = polmul(Delta,dDelta,GAFB,dGAFB);
[kIB,dkIB] = polmul(kI,0,B,dB);
[d,dd] = poladd(GAFB2,dGAFB2,kIB,dkIB);