function [K,Ao,Co,Ko,T]=lpe(A,C,c)
% LBE Linear Polynomial observer and Estimator
% [K,Ao,Co,Ko,T]=lpe(A,C,c)
% On input
% A, C - model matrices
% c - (n+1) dimensional vector with the prescribed coefficients
%     of the observer pole polynomial.

n=size(A,1);

% Observer canonical form
B=C';       % Dummy B
[Ao,Bo,Co,T]=ss2ocf(A,B,C);
a=poly(A);


Ko=c(2:n+1)'-a(2:n+1)';

K=T*Ko;