G1=tf([5,100],[1,8,32,80,100]); G=ss(G1);

syms t; 
diff(1+exp(-t)*cos(5*t))

diff(1+exp(-t)*cos(5*t),2)

u0=[2,-1,-24]; Y0=[0.3; 0.5; 0; 0];
hatY0=Y0-[0; G.c*G.b*u0(1); 
          G.c*G.b*u0(2)+G.c*G.a*G.b*u0(1); 
          G.c*G.b*u0(3)+G.c*G.a*G.b*u0(2)+G.c*G.a^2*G.b*u0(1)];
Wo=obsv(G); X0=inv(Wo)*hatY0;

cc=1; dd=[-1,1,0,5];
[S,R,K]=anasolv(G,cc,dd,X0)

Sol=[G.c,0,0,0]*S