A_l = [0 1 0 0 0 
    0 0 0 0 0
    0 0 0 1 0
    0 0 0 0 0
    K_3 0 0 0 0];

B_l = [0 0
    0 K_1
    0 0
    K_2 0
    0 0];

C_l = diag([1 1 1 1 1]);

poles = [-1 -2 -3 -4 -5];

L = place(A_l', C_l', poles)';