s = tf('s'); A = [0, 1; -5, -2]; b = [0; 1]; f = [8, 4]; Ap = A - b*f; c = [1, 0]; x0 = [0; 0]; P = ss(Ap, b, c, 0); k = 10; % (case 1) K(s) = k ex8_1_simu; K = k; Ter = 1/(1+P*K); eig(Ter) % check if the system from r to e is stable or not % (case 2) K(s) = k/s