Corrected state controllability function

Corrected the calculation of the input pole vectors
Revert "Corrected state controllability function"

This reverts commit 3d41aec796ae495aeceb94792d083c2c5a91a411.
Corrected state controllability in MIMO_Tools

Corrected the calculation of the input pole vectors
Merge pull request #67 from clifford-oliphant/master

Corrected state controllability function in MIMO_Tools