%-- 2011/05/16 12:57 --% A = [1, 0; 0, -1] B = [1; 1] F = place(A, B, [-1, -2]) eig(A - B*F) B = [0; 1] F = place(A, B, [-1, -2]) Uc = ctrb(A,B) det(Uc)