sensorless control of pmsm using extended luenberger observer

Hello,
I have a model of permanent magnet synchronous motor with FOC control which works very well, i have done the kalman filter to estimate id, iq, w(rotor speed) , théta and Load torque which works very well and know i need to do the Luenberger Observer to estimate the states variables, Luenberger observer is based on pôles placement but i don't know how to get pôles if the matrix A depends on state variables. I need help to implement the extended Luenberger Observer s-function to estimate id, iq, w(rotor speed) , théta and Load torque in matlab/Simulink