#from slycot import sb01bd
K = place(A, B, [-3, -2, -1])
print("Pole place: K = ", K)
print("Pole place: eigs = ", np.linalg.eig(A - B * K)[0])

# from slycot import ab01md
# Ac, Bc, ncont, info = ab01md('I', A, B)

# Python control may be used without slycot, for example for a pole placement.
# Eigenvalue placement
w = [-3, -2, -1]
K = place(A, B, w)
print("[python-control (from scipy)] K = ", K)
print("[python-control (from scipy)] eigs = ", np.linalg.eig(A - B * K)[0])

# Before using one of its routine, check that slycot is installed.
w = np.array([-3, -2, -1])
if slycot_check():
    # Import routine sb01bd used for pole placement.
    from slycot import sb01bd

    n = 3  # Number of states
    m = 1  # Number of inputs
    npp = 3 # Number of placed eigen values
    alpha = 1 # Maximum threshold for eigen values
    dico = 'D'  # Discrete system
    _, _, _, _, _, K, _ = sb01bd(n, m, npp, alpha, A, B, w, dico, tol=0.0, ldwork=None)
    print("[slycot] K = ", K)
    print("[slycot] eigs = ", np.linalg.eig(A + np.dot(B, K))[0])
else:
    print("Slycot is not installed.")