clear all;

clc;
syms k1 k2 ke s
k = [k1 k2];
A = [-1 1;0 2];
B = [0;1];
C = [1 1];
D = [0];
zeta = 0.59;
wn = 13.56;
den1 = s^2 + 2*zeta*wn*s + wn^2;
Mat = [A-B*k B*ke;-C 0];
[num,den] = ss2tf(A,B,C,D,1);
den2 = den1*(s+num(3));
den3 = charpoly(Mat);
coe1 = coeffs(den2);
coe1 = fliplr(coe1);
coe1 = double(coe1) ;
S = solve( den3(4)==coe1(4) , den3(3)==coe1(3) , den3(2)==coe1(2) );
K1 = S.k1;
K2 = S.k2;
Ke = S.ke;

tf1 = tf(num,den);
subplot(2,1,1)
stepplot(tf1)
tf2 = tf(num,coe1);
subplot(2,1,2)
stepplot(tf2)