function [At,Bt,Dt]=ss2aug4delay(A,B,D,Atau,Btau,Dtau)
% [At,Bt,Dt]=ss2aug4delay(A,B,D,Atau,Btau,Dtau)

nt=length(Btau);     % The delay number of samples, nt
n=length(B);         % System order

At=[A zeros(n,nt);Btau*D Atau];
Bt=[B;Btau*0];
Dt=[zeros(1,n) Dtau];