clear all; s = tf('s'); A = [0, 1; -5, -2]; b = [0; 1]; f = [8, 4]; Ap = A - b*f; c = [1, 0]; x0 = [1; 1]; P = ss(Ap, b, c, 0); k = 1; % (i) K(s) = k ex0705; K = k; Ter = 1/(1+P*K); eig(Ter) % check if the system from r to e is stable or not % (ii) K(s) = k/s