Synthesis of a stabilizing controller

A pole placement technique is used. Only x and theta are observed. An observer is built to estimate the state : z'=(f-k*h)*z+k*y+g*u

--> to=0.1;  //
--> k=ppol(f',h',-ones(4,1)/to)'  //observer gain
 k  =
!   20.          0.        !
!  100.        - 0.7178049 !
!   0.           20.       !
! - 1.619D-13    152.63902 !
-->//
-->//verification
-->//
-->// norm( poly(f-k*h,'z')-poly(-ones(4,1)/to,'z'))
-->//
--> kr=ppol(f,g,-ones(4,1)/to)  //compensator gain
 kr  =
! - 208.97044  - 83.588175  - 175.58509  - 24.917635 !