‘Thus far, we have established an approach for the design of a feedback control system by using the state variables as the feedback variables in order to increase the of the system and obtain the desired system response. Now we face the task of computing the gain matrix K to place the poles at desired locations. For a single- input, single-output system, Ackermann’s formula is useful for determining the state variable feedback matrix K= (ky ky. kh where u= -Kx. Given the desired characteristic equation QA) = A" = ery" + Fay the state feecback gain matrix is K=(0 0 ... 0 1)Pc'9(A), (11,10) where g(A) = AN + aA"! + + aA + apl, and P, is the controllability matrix of Equation (11.2), ‘Ackermann’s formula can also be employed to place the roots of the observer char- acteristic equation at the desired locations. Consider the observer gain matrix L=(L) lo «+ LI and the desired observer characteristic equation PA) = A" + By + + BA + Bo. ‘The B's are selected to meet given performance specifications for the observer. The observer gain matrix is then computed via [L= o(aypsito 01 (1.7) where P,, is the observability matrix given in Equation (11.3) and P(A) = AN + By A"! + os + BA + Bol