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+% Controle com realimentação de estados
+pC = (0.6)*ones(1,5);
+pC(4) = 0.5 + 0.4*1i;
+pC(5) = 0.5 - 0.4*1i;
+
+%Seguindo controle digital...
+n = 4;
+m = 1;
+
+Ahat = [A, B; zeros(1,n), 0];
+Bhat = [zeros(n,1); eye(m)];
+Khat = acker(Ahat, Bhat, pC);
+K = (Khat + [zeros(m, n), eye(m)])/([A - eye(n), B; H*A, H*B]);
+
+% Ganhos para utilizar na realimentação
+Ki = K(5);
+Kp = K(1:4); \ No newline at end of file