\[
|sI-(A-BK)| = \begin{vmatrix} s & -1 & 0 \\ 0 & s+1 & -1 \\ 0k_1 & 1+10k_2 & s-10+10k_3 \end{vmatrix}
\]
\[
= s^3+(10k_2-9)s^2+(10k_2+10k_3-9)s+10k_1
\]
\[
=(s+10)(s^2+2s+4)=s^3+12s^2+24s+40
\]
对应系数得：\(k=\begin{bmatrix}4 & 1.2 & 2.1\end{bmatrix}\)
(页码：30)