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+//Example 7.16
+//Ackermann's formula for undamped oscillator.
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//undamped oscillator (Pendulum) state model;
+w0=1;
+
+F=[0 1;-w0^2 0];
+G=[0 1]';
+H=eye(2,2); //representing x1 and x2 states as outputs
+J=[0 0]';
+//------------------------------------------------------------------
+//Ackermann's formula for feedback gain computation
+
+pc=[-2 -2];   //desired poles
+exec('./acker_dk.sci', -1);
+[K,eig]=acker_dk(F,G,pc)
+disp(K,"Feedback gain K=")
+disp(eig,"Closed loop eigen values are ")
+//------------------------------------------------------------------
+
+