Ra = 2.

6;
La = 0.18;
km =0.00767;
ktau = 0.00767;
Jm = 3.87e-7;
kg = 70;
J120 = 2.27e-5;
J72 = 1.4e-6;
J24 = 1.0e-7;
JL = J120+2*J72+J24;% 2,56*10-5
Beq = 4e-3;
Rand_mr = 0.87;
Rand_gb = 0.85;
Vmax = 6;
Rs = 10;
%Vb = +/-12
Rb = 7.15;
%N/A = +/-176
S = 0.0284;
% Transfer function of DC motor
Rand=Rand_mr*Rand_gb;
Jeq = (kg*kg*Jm+JL);
am = Rand*km*kg/Ra/Jeq;
bm = Beq/Jeq + Rand*km*km*kg*kg/Ra/Jeq;
mcc_tf1=tf(am,[1,bm,0]); % radians/volts
% for degrees multiply by 180/pi
mcc_tf=tf(am*180/pi,[1,bm,0]); % radians/volts

a=[0,1;0,-44.74];
b=[0;4553];
c=[1,0];
d=0;
rank(ctrb(a,b))
vp=[-10,-20];
k=place(a,b,vp)
factor=-c*inv(a-b*k)*b;
factor1=-c*inv(a-b*k)*b*k*[1;0];