User`s guide

Pole Placement
7-7
The function acker is limited to SISO systems and should only be used for
systems with a small number of states. The function
place is a more general
and numerically robust alternative to
acker.
Caution: Pole place ment can be bad ly conditioned if y o u choose unrealistic
pole locatio ns. In pa rticul ar, you should avoi d:
• Placi ng mult ip le p ol es at the same location
• Moving p ole s t hat a re we ak ly cont rol labl e o r o bserv ab le. Thi s t ypi cally
requires high gain, which in tu rn makes the entire closed-loop
eigenstructure very sensitive to perturbations.
Pole Placement
acker
SISO pole placement.
estim
Form state estimator given estimator gain.
place
MIMO pole placement.
reg
Form output-feedba ck compensator given
state-feedback and estimator gains.