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# kpure

continuous SISO system limit feedback gain

### Syntax

K=kpure(sys [,tol]) [K,R]=kpure(sys [,tol])

### Arguments

- sys
A SISO linear dynamical system, in state space, transfer function or zpk representations, in continuous or discrete time.

- tol
a positive scalar. tolerance used to determine if a root is imaginary or not. The default value is

`1e-6`

- K
Real vector, the vector of gains for which at least one closed loop pole is imaginary.

- R
Complex vector, the imaginary closed loop poles associated with the values of

`K`

.

### Description

`K=kpure(sys)`

computes the gains `K`

such that the system
`sys`

feedback by `K(i)`

(`sys/.K(i)`

) has poles on imaginary axis.

### Examples

### History

Version | Description |

6.0 | Handling zpk representation |

## Comments

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