A = [0 1 0 0; 1 0 0 0; 0 0 0 1; -0.5 0 0 0]; B = [0; 1; 0; -1]; p = [-1.5; 0; -1+j; -1-j]; K1 = acker(A, B, p) K2 = place(A, B, p)