ppol pole placement

## Syntax

    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
- stabil