function [opoles] = ...
    chooseObserverPoles(A, B, C, Tso, poleMethod, fullOrder, mStates)

addpath('digcontr');
addpath('ele503');
load('sroots.mat');

[n, p] = size(B);

fprintf('Choosing observer poles... ');

if fullOrder
    fprintf('Full order Observer... ');
    switch poleMethod
        case PoleMethod.Bessel
            fprintf('Using Bessel poles\n');
            opoles = get_spoles(n)/Tso;
        case PoleMethod.PlantZeros
            fprintf('Using plant zeros\n');
            plant = ss(A, B, C, zeros(p));
            plantZeros = tzero(plant);
            fprintf('Found %d plant zeros\n', length(plantZeros))
            opoles = [];
            if isempty(plantZeros) == false
                for zero = plantZeros'
                    opoles = [opoles zero];
                end
                % Fill in the rest with bessel poles
                opoles = [opoles get_spoles(n - length(plantZeros))/Tso];
            else
                if n == 6
                    fprintf('Using Bessel s1 s2 s3\n');
                    opoles = [s1/Tso s2/Tso s3/Tso];
                elseif n == 9
                    fprintf('Using Bessel s2 s3 s4\n');
                    opoles = [s2/Tso s3/Tso s4/Tso];
                end
            end
    end
else
    fprintf('Reduced order observer... ');
    fprintf('Using Bessel poles\n');
    opoles = get_spoles(nStates-mStates)/Tso;
end