G =drss(3,2,2)
[A,B,C,D] = ssdata(G);

Q = diag([1 2 3]), R = diag([1 2]);

H = [inv(A), A\B/R*B'; Q/A, A'+Q/A*B/R*B']

[W,E] = eig(H)
 
h = eig(H) 

plot(h,'rp','MarkerSize',12)
hold on,
plot(exp(i*2*pi*(0:.01:1)))
xlabel('Real')
ylabel('Imaginary')
axis equal
grid

K = dlqr(A,B,Q,R)
plot(eig(A-B*K),'ob')
hold off