#' @title Pole placement gain selection
#'
#'
#' @description Computes the Pole placement gain selection using Ackermann's formula.
#'
#' @details K <- place(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 function
#' is just a wrapper for the \code{acker} function.
#'
#' This method is NOT numerically stable and a warning message is printed if the nonzero closed loop
#' poles are greater than 10% from the desired locations specified
#' in P.
#'
#' @param a State-matrix of a state-space system
#' @param b Input-matrix of a state-space system
#' @param p closed loop poles
#'
#' @examples
#' F <- rbind(c(0,1),c(0,0))
#' G <- rbind(0,1)
#' H <- cbind(1,0);
#' J <- 0
#' t <- 1
#' sys <- ss(F,G, H,J)
#' A <- c2d(sys,t);
#' j <- sqrt(as.complex(-1));
#' pc <- rbind(0.78+0.18*j, 0.78-0.18*j)
#' K <- place(A$A, A$B, pc)
#' @export
#'
place <- function (a, b, p) {
return(acker(a, b, p))
}
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