Plant+controller Linear system

-->//linear system  pendulum-observer-compensator
-->//---------------------------------------------
-->//
-->//state: [x x-z]
-->//
--> ft=[f-g*kr            -g*kr
-->      0*f               f-k*h]
 ft  =
         column 1 to 5
!   0.          1.           0.           0.           0.       !
!   203.8736    81.549439    170.58472    24.309888    203.8736 !
!   0.          0.           0.           1.           0.       !
! - 1019.368  - 407.7472   - 803.8736   - 121.54944  - 1019.368 !
!   0.          0.           0.           0.         - 20.      !
!   0.          0.           0.           0.         - 100.     !
!   0.          0.           0.           0.           0.       !
!   0.          0.           0.           0.           0.       !
         column 6 to 8
!   0.           0.           0.        !
!   81.549439    171.30252    24.309888 !
!   0.           0.           0.        !
! - 407.7472   - 856.51262  - 121.54944 !
!   1.           0.           0.        !
!   0.           0.           0.        !
!   0.         - 20.          1.        !
!   0.         - 100.         0.        !
--> gt=[g;0*g];
--> ht=[h,0*h];
--> pr=syslin('c',ft,gt,ht);