Robust eigenstructure assignment via dynamical compensators

Based on a proposed complete parametric approach for eigenstructure assignment in multivariable linear systems via dynamical compensators, insightful parametrizations of the closed loop eigenvalues sensitivities to the perturbed elements in the open loop system matrices are obtained, and an effective algorithm for eigenvalue assignment with minimum sensitivity in multivariable linear systems via dynamical compensators is then proposed. The algorithm does not contain 'going back' procedures, and allows the closed loop eigenvalues to be conveniently optimized within desired regions. A numerical example demonstrates its effect, simplicity and numerical property.