# 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.

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