import numpy as np
import control as ct

nx = 3
nu = 1
ny = 1
sys = ct.rss(states=nx, inputs=nu, outputs=ny)
poles = - np.arange(1, nx+1, 1)
Kp = ct.place(sys.A, sys.B, poles)
Ka = ct.acker(sys.A, sys.B, poles)
print(Kp.shape, Ka.shape)

nx = 3
nu = 2
ny = 2
sys = ct.rss(states=nx, inputs=nu, outputs=ny)
poles = - np.arange(1, nx+1, 1)
Kp = ct.place(sys.A, sys.B, poles)
Ka = ct.acker(sys.A, sys.B, poles)