clear;clc;
A0=[0,1,0,0;0,-0.77,-0.503,0;0,0,0,1;0,0.128,11.726,0];
B0=[0;0.769;0;-1.282];
C0=[1,0,0,0;0,0,1,0];
D0=[0;0];
S=ctrb(A0,B0);%kekongxing
disp(S);
disp(rank(S));
[v1,e1]=eig(A0);
disp(e1);
V=obsv(A0,C0);%keguanxing
disp(V);
disp(rank(V));
[N,D]=ss2tf(A0,B0,C0,D0);
disp('num');
disp(N);
disp('den');
disp(D);
[z,p,k]=tf2zp(N,D);
disp('zeros');
disp(z);
disp('poles');
disp(p);
disp('gain');
disp(k);
fdk=acker(A0,B0,[-3+4j,-3-4j,-24,-24]);
disp('feedback');
disp(fdk);
H=place(A0',C0',[-12.5,-12.5,-11,-11])';
disp('observer H');
disp(H);