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% Example 3.40 
% 
% Design of state observer 
% 
g=[0 -0.16; 1 -1]; 
h=[0; 1]; c=[0 1]; 
% Check the observability 
disp('The rank of observability matrix') 
ro=rank(obsv(g,c)) 
 
% Design 
g1=g'; h1=c'; c1=h'; 
p=[0.5+0.5*i 0.5-0.5*i]; 
k=acker(g1,h1,p); 
ke=k'