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Robust arbitrary pole placement with the extended Kautsky-Nichols-van Dooren parametric form

  • Schmid, R.
  • Ntogramatzidis, Lorenzo
  • Nguyen, T.
Publication Date
Jan 01, 2014
[email protected]


We consider the classic problem of pole placement by state feedback. Our recent work [1] offered an eigenstructure assignment algorithm to obtain a novel parametric form for the pole-placing gain matrix to deliver any set of desired closed-loop eigenvalues, with any desired multiplicities. The method was adapted from the classic eigenstructure assignment algorithm of Kautsky, Nichols and van Dooren [2]. In this paper we employ this parametric formula to introduce an unconstrained nonlinear optimisation algorithm to obtain a gain matrix that delivers any desired pole placement with optimal robustness.

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