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+//Example 7.17 How zero location affect control law
+// Obtain state feedback gain matrix for the given system
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+//(a) state feedback gain matrix for zero at 2.
+//Location of system Zero
+z0=2;
+
+// State space representation
+Ao=[-7 1;-12 0];
+Bo=[1 -z0]';
+Co=[1 0];
+Do=0;
+
+// Desired poles
+Pd=[1 2 4];
+Pc=roots(Pd);
+
+
+// State feedback gain matrix for system zero at -2.0
+K=ppol(Ao,Bo,Pc)
+disp(K,"K=","State feeback gain for a system with zero at 2" )
+//------------------------------------------------------------------
+//Location of system Zero
+z0=-2.99
+B=[1 -z0]';
+// State feedback gain matrix for system zero...
+// at -2.99 (by ackermann's formula)
+exec('./acker_dk.sci', -1);
+K1=acker_dk(Ao,B,Pc)
+disp(K1,"K1","State feeback gain for a system with zero at -2.99")
+//------------------------------------------------------------------