I was in need of a function to perform state observers pole placement, so I wrote a wrapper function around the place(A, B, p) function as luenberger(A, C, p) which returns the observer gain matrix L. It makes use of the dual property between observability and controllability. I don't know if it is of any use, if it is I can push the code. Otherwise, if the decision to have only the place command was a deliberate project choice, please disregard.

On the other hand, I noticed that the ackermann function is only implemented for SISO systems. Is implementing it for MIMO systems on the roadmap? If it is, I can try to work on that...