M = 1;
L = 0.5;
I = M*(2*L)^2/12;
g = 9.8;
J = I/10;
k = 10;
q10 = 10 * pi/180;
q20=0;


A = [0 1 0 0 
    0 0 1 0
    0 0 0 1
    0 0 0 0];
B = [ 0;0;0;1];

K = acker(A,B,[-30 -40 5.7*(-cosd(45)+sind(45)*j) 5.7*(-cosd(45)-sind(45)*j)]);


tal = 0.01;
prefiltro = series(series(tf(1,[tal 1]),tf(1,[tal 1])),series(tf(1,[tal 1]),tf(1,[tal 1])));
%prefiltro=zpk([],[-1/tal -1/tal -1/tal -1/tal],100^4);
[numpf,denpf]=tfdata(prefiltro,'v');

tal = 0.02;
mf = series(series(tf(1,[tal 1]),tf(1,[tal 1])),series(tf(1,[tal 1]),tf(1,[tal 1])));
[num,den]=tfdata(mf,'v');