A=[-0.3,0.1,-0.05; 1,0.1,0; -1.5,-8.9,-0.05]; 
B=[2; 0; 4]; C=[1,2,3]; D=0;
P1=[-1,-2,-3];  Kp1=place(A,B,P1);
step(ss(A-B*Kp1,B,C,D));

P2=[-1,-1,-1];  Kp2=place(A,B,P2);

Kp2=acker(A,B,P2); step(ss(A-B*Kp2,B,C,D));

P4=[-1,-2,-3]; Ko1=place(A',C',P4)';  
Ac=A-B*Kp1-Ko1*C; Ah=A-Ko1*C; t=0:.1:20;
G=ss(A,B,C,D); Gc=ss(Ac,Ko1,Kp1,0);
G_c=feedback(G*Gc,1); step(G_c,t)

P5=[-100;-200;-150]; Ko2=place(A',C',P5)'; 
Ac=A-B*Kp1-Ko2*C; Ah=A-Ko2*C; t=0:.01:5;
G=ss(A,B,C,D); Gc=ss(Ac,Ko2,Kp1,0);
G_c=feedback(G*Gc,1); step(G_c,t)