Description Usage Arguments Details Examples
Computes the Pole placement gain selection using Ackermann's formula.
1 | acker(a, b, p)
|
a |
State-matrix of a state-space system |
b |
Input-matrix of a state-space system |
p |
closed loop poles |
K <- ACKER(A,B,P) calculates the feedback gain matrix K such that the single input system . x <- Ax + Bu
with a feedback law of u <- -Kx has closed loop poles at the values specified in vector P, i.e., P <- eigen(A - B * K).
This method is NOT numerically stable and a warning message is printed if the nonzero closed loop poles are greater than 10 in P.
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