# Zero placement in transfer function

I have to tune a state space model for certain parameters in Matlab. The transfer function has to be $$T(s)=\frac{k_q(1+0.162s)}{s^2+8.23s+67.7}$$ Using the place command, I have been able to place the poles at $$p_{1,2}=-4.115\pm 7.12i$$ with a full state feedback gain of $$-280$$ and $$-28$$. However, I now have to place the zero using a prefilter such that the zero is at $$s=-0.6653$$ and the system tracks an input signal properly. I fail to see how a prefilter would affect the enumerator such that the location of the zero can be altered. How can I place the zero?