clear all;
clc;
close all;


a = 0.1;
c = 1;
m = 2;


A = [0,1,0;-c/m,0,a/m;0,-c/a,0];
B = [0;0;c/(a*a)];
C = [1,0,0];
K = [38.6,11.8,0.14];
K_e = [70;1499;499300];

% Servo system calculation (Reference Ogata page 744)

newPlacedPoles = [-2+4i, -2-4i, -10, -10];
newA = [A, [0; 0; 0]; -C, 0];
newB = [B;0];
newFullK = acker(newA, newB, newPlacedPoles);

newK = newFullK(1,1:3);
newK1 = newFullK(1,4);