I have to design a feedback controller for a system where the $A$ matrix is $6 \times 6$ and the $B$ matrix is $2 \times 6$ ($2$ inputs). I've used Matlab to do it but I still need to write an explanation and I can't find any explanation or examples where system has more than one input.
Edit: I have A and B and I have shown that they are controllable, I need to now design a matrix F (or K) to work as a feedback controller. The problem is that my textbook only shows how to do pole placement when B is a single column vector. I've already made the feedback control in Matlab and it works fine but I need to be able to show how I built the F matrix. I've also tried Ackermann's formula but my controllability matrix is 12x6 and can't be inverted.