harold.ackermann(G, loc)

Pole placement using Ackermann’s polynomial method.

  • G (State, tuple) – The model or (A, B) arrays of the model as a tuple
  • loc (arraylike) – Desired eigenvalue locations given as a 1D arraylike

K (ndarray) – Resulting static full state feedback gain such that the array A-B@K has the eigenvalues prescribed by loc


This is a naive implementation method of pole placement. Numerically it is quite fragile and instable. Hence it might only give meaningful results for small and well-controllable systems.