Example

Let

Design *u=Fx* so that the closed-loop poles are at
{-2, -3}.

Suppose observer poles are at {-10,-10}

Then can be obtained
by using

>> *L* = -acker(*A**'**,C**'*,[-10,-10])*'
*

and the observer-based controller is given by

which is unstable: this may not be desirable in practice.