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+// Pole placement controller for inverted pendulum, discussed in Example 14.1 on page 490. 2.1 should be executed before starting this code
+// 14.1
+
+exec('pol2cart.sci',-1);
+
+C = eye(4,4);
+D = zeros(4,1);
+Ts = 0.01;
+G = syslin('c',A,B,C,D);
+H = dscr(G,Ts);
+[a,b,c,d] = H(2:5);
+rise = 5; epsilon = 0.1;
+N = rise/Ts;
+omega = %pi/2/N;
+r = epsilon^(omega/%pi); 
+r1 = r; r2 = 0.9*r;
+[x1,y1] = pol2cart(omega,r1);
+[x2,y2] = pol2cart(omega,r2);
+p1 = x1+%i*y1;
+p2 = x1-%i*y1;
+p3 = x2+%i*y2;
+p4 = x2-%i*y2;
+P = [p1;p2;p3;p4];
+K = ppol(a,b,P)