Error using acker System must be single input.How can I solve this problem ?

A=[0.0002 0.039 0 -9.8

-0.07 -0.317 250 0

0.00006 -0.003 -0.339 0

0 0 1 0] %matricea de stabilitate

B=[ 0.44 0.000003434

-5.46 -0.00000015

-1.16 0.000000067

0 0 ]

Ctheta=[0 0 0 1];

% Etapa I

Arond=[A zeros(4,1);-Ctheta 0];%formam matricea Arond si Brond

Brond=[B;0 0];

j=sqrt(-1);

S=[-0.07+0.03*j,-0.07-0.03*j,-1+3*j,-1-3*j,-10];%alegem polii doriti,primii doi mai apropiati de axa imaginara

%urmatorii 2 mai indepartati si al 5-lea corespunzator elementului integrator

Krond=-acker(Arond,Brond,S);

K=-Krond(1:4);

K0=Krond(5);

% Determinare estimator de stare

%Poli estimator

Se=[-3,-3,-3,-3];

C=[0 1 0 0;0 0 1 0;0 0 0 1];

%Determinare amplificare estimator stare

a=A';b=C';

F0=zeros(3,4); g=ones(3,1); %Vezi Curs problema alocarii polilor cazul m>1

f=acker(a,b*g,[-3,-3,-3,-3]);

L=(g*f)';

% Sistemul rezultant

Arez=[A B*K0 -B*K;-Ctheta 0 zeros(1,4);L*C B*K0 A-L*C-B*K];

Brez=[zeros(4,1);1;zeros(4,1)];

Crez=[0 0 0 1 0 0 0 0 0];

Drez=0;

t=0:0.1:200;

sysrez=ss(Arez,Brez,Crez,Drez);

% theta=step(sysrez,t);

% plot(t,theta)

tau=15;

filtru=ss(-1/tau,1/tau,1,0);

thetacom=step(filtru,t);

theta=lsim(sysrez,thetacom,t);

plot(t,theta)

shg

Answer 1

[Paul]

Try using the place command:

doc place