designControl

designControl(A,B,C,D,eig,method) computes gain matrices for linearized dynamical systems

designControl(A,B,C,D,eig,method) takes in the linearized system (A,B,C,D) and the desired eigenvalues to place (eig). "method" is used to determine if the control uses state feedback ('x') or output feedback ('y'). This form returns the control gain matrix.

[K,L] = designControl(___) will include the state estimation gain matrix. This will return an empty matrix if output feedback is used.

[K,L,Kr] = designControl(___) will include the control gain matrix attached to a desired reference away from the origin of linearization. The reference can be taken to be a target state ('-x') or a target output ('-y'). If not specified in "method", the default is a reference state.