Theta = [0.0308 0.0106 0.0095 0.2097 0.063];
[A,B,ur] = linpendu(Theta,pi/2,0)
sysc = ss(A,B,[1 1 1 1],0)
sysd = c2d(sysc,.005)
p = [-7 -7.5 -8 -8.5]
zp = exp(p*.005)
Ktry1 = place(sysd.a,sysd.b,zp)

Q = [1 0 0 0;0 0 0 0;0 0 1 0;0 0 0 0]
R = 1
Ktry2 = lqrd(A,B,Q,R,.005)
