Robust arbitrary pole placement with the extended Kautsky-Nichols-van Dooren parametric form
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 metho...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Published: |
IEEE
2014
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| Online Access: | http://hdl.handle.net/20.500.11937/17085 |
| Summary: | 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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