SOF problem

Entries below show the results of solver, you can edit the problem by 'Edit problem' link.

sof_K is the SOF gain.
sof_CL_POLES are the closed loop poles.
A-BKC is the closed loop state matrix.

sof_A

0.7286 0.8840 0.1568 0.3916 0.9398;
0.9551 0.3472 0.4164 0.2528 0.8328;
0.6564 0.0595 0.0940 0.3544 0.4700;
0.7423 0.7184 0.4499 0.7430 0.6299;
0.3450 0.9582 0.8692 0.6508 0.0582;

sof_B

0.5422 0.7869;
0.4557 0.6560;
0.8631 0.0;
0.8552 0.1312;
0.4723 0.4949;

sof_C

0.0383 0.3279 0.3137 0.4330 0.1845;
0.2274 0.8995 0.2517 0.8424 0.5082;

sof_Q

1 0 0 0 0;
0 1 0 0 0;
0 0 1 0 0;
0 0 0 1 0;
0 0 0 0 1;

sof_R

0.01 0;
0 0.01;

sof_EPS

1e-07

sof_K

0.000440 0.792381 ;
-0.670075 1.004967 ;

sof_CL_POLES

0.359675+0.438009j
0.359675-0.438009j
-0.579279
-0.199110+0.289809j
-0.199110-0.289809j

sof_CL_DEN

1.000000 0.258149 -0.027631 0.130733 0.062293 0.023005 ;

sof_CL_NUM

0.000000 0.898386 0.738746 0.085866 0.003621 0.014670 ;
0.000000 1.710884 1.698592 0.240696 -0.091660 0.000053 ;
0.000000 0.393359 0.567033 0.297055 0.062481 0.006711 ;
0.000000 1.131044 1.391339 0.704234 0.152937 0.010000 ;

sof_OL_DEN

1.000000 -1.971000 -2.209850 -0.378124 0.080732 0.020785 ;

sof_OL_NUM

0.000000 0.898386 0.393920 -0.274568 -0.105387 0.008277 ;
0.000000 1.710884 1.468674 0.000372 -0.164342 -0.004210 ;
0.000000 0.393359 0.838916 0.581244 0.148430 0.011752 ;
0.000000 1.131044 1.391188 0.704076 0.152890 0.009997 ;

sof_LINK

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