A=[0,1,0,0;0,-0.0883,0.6293,0;0,0,0,1;0,-0.2357,27.8285,0]
B=[0,0.8832,0,2.3566]'
C=[1,0,0,0;0,0,1,0]
D=[0,0]'
J=[-10,0,0,0;0,-10,0,0;0,0,-2-2*sqrt(3)*i,0;0,0,0,-2+2*sqrt(3)*i]
pa=poly(A)
pj=poly(J)
M=[B,A*B,A^2*B,A^3*B]
W=[pa(4),pa(3),pa(2),1;pa(3),pa(2),1,0;pa(2),1,0,0;1,0,0,0]
T=M*W
K=[pj(5)-pa(5),pj(4)-pa(4),pj(3)-pa(3),pj(2)-pa(2)]*inv(T)
AC=[(A-B*K)]
BC=[B]
CC=[C]
DC=[D]


T=0:0.005:5;
U=0.2*ones(size(T));%生成所有元素為一的矩陣
Cn=[1,0,0,0];
Nbar=rscale(A,B,Cn,0,K);
Bcn=[Nbar*B];
[Y,X]=lsim(AC,Bcn,CC,DC,U,T);


plot(T,X(:,1),'_');hold on;
plot(T,X(:,2),'_.');hold on;
plot(T,X(:,3),'.');hold on;
plot(T,X(:,4),'_')
legend('CartPos','CartSpd','PendAng','PendSpd')