Ch Control System Toolkit Demos
Example 5 -- Pole Placement

Consider the system

. X = AX + BU Y = CX + DU where [0 1 0 0] [0] A = [1 0 0 0], B = [1], C = [0 0 1 0], D = 0 [0 0 0 1] [0] [-0.5 0 0 0] [0] using acker() and place() functions to find the feedback gain K that place the closed-loop poles at s = -1.5, 0, -1+j, -1-j.

Answer:

K = [6 9.5 0 6]

Program in Ch
Output in Ch
Program in MATLAB