ppol
====

pole placement



Calling Sequence
~~~~~~~~~~~~~~~~


::

    [K]=ppol(A,B,poles)




Arguments
~~~~~~~~~

:A,B real matrices of dimensions `nxn` and `nxm`.
: :poles real or complex vector of dimension `n`.
: :K real matrix (negative feedback gain)
:



Description
~~~~~~~~~~~

`K=ppol(A,B,poles)` returns a mxn gain matrix `K` such that the
eigenvalues of `A-B*K` are `poles`. The pair `(A,B)` must be
controllable. Complex number in `poles` must appear in conjugate
pairs.

An output-injection gain `F` for `(A,C)` is obtained as follows:

`Ft=ppol(A',C',poles); F=Ft'`

The algorithm is by P.H. Petkov.



Examples
~~~~~~~~


::

    A=`rand`_(3,3);B=`rand`_(3,2);
    F=ppol(A,B,[-1,-2,-3]);
    `spec`_(A-B*F)




See Also
~~~~~~~~


+ `canon`_ canonical controllable form
+ `stabil`_ stabilization


.. _stabil: stabil.html
.. _canon: canon.html