A=[0 1 0 0
   0 -9.8277 0 0
   0 0 0 1
   0 101.41 94.94 -3.8];
B=[0;0.6218;0;-6.0173];
C=[1 0 0 0
   0 0 1 0];
      
D=0;




%LQR-Regler
Q=diag(0.1,0.01,1,0.025]);
N=0;
R=500;
[K,S,E] = lqr(A,B,Q,R,N);

K1=K(1,1);
K2=K(1,2);
K3=K(1,3);
K4=K(1,4);



% Pole für den Beobachter

P_b=[-20,-19,-18,-17]
P_b1=[-120,-119,-118,-117] 

L=place(A', C', P_b)'




K