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PPOL(G)                        Scilab Function                        PPOL(G)
NAME
  ppol - pole placement

CALLING SEQUENCE
  [K]=ppol(A,B,poles)

PARAMETERS

  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.

EXAMPLE
  A=rand(3,3);B=rand(3,2);
  F=ppol(A,B,[-1,-2,-3]);
  spec(A-B*F)

SEE ALSO
  canon, stabil