A = [0 1
    2 -0.1];
B = [0;2];
C = [1 0];

sys = ss(A,B,eye(2),0);

g = place(1.2*A,0.8*B,[-1 -2])

% prealimentacao da referencia
%Gyd = inv(C*inv(A-B*g)*B);
Gyd = inv(C*inv(A-B*g)*B);


% com integral
Ae = [A zeros(2,1)
      C 0          ];
Be = [B
      0];

g2 = place(Ae,Be,[-3 -2 -1.5]);