Designing full state controller with reference input

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Clara Scotte
Clara Scotte on 31 Oct 2020
I have designed a state space based controller for a 4th order system by finding the gain matrix (using acker/place) and converted my A matrix to closed loop (Ac = A-B*K). Now, I have a reference value that I need my system to approach (rather than 0), but I don't know how to incorportate it.
Anyone have any tips?

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