Acker:

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   Computes the gain for desired pole locations using Ackermann's
   formula so that a-bk has the desired poles.
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   Form:
   k = Acker( a, b, p )
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   Inputs
   ------
   a                  Plant matrix
   b                  Input matrix
   p                  Pole locations

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   Outputs
   -------
   k                  Gain            

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