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A unified method for optimal arbitrary pole placement |
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| Authors: | Robert Schmid Lorenzo Ntogramatzidis Thang Nguyen Amit Pandey |
| Affiliation: | 1. Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, VIC 3010, Australia;2. Department of Mathematics and Statistics, Curtin University, Perth, WA 6848, Australia;3. Department of Engineering, University of Exeter, UK;4. Department of Mechanical and Aerospace Engineering, University of California, San Diego, USA |
| Abstract: | We consider the classic problem of pole placement by state feedback. We offer an eigenstructure assignment algorithm to obtain a novel parametric form for the pole-placing feedback matrix that can deliver any set of desired closed-loop eigenvalues, with any desired multiplicities. This parametric formula is then exploited to introduce an unconstrained nonlinear optimisation algorithm to obtain a feedback matrix that delivers the desired pole placement with optimal robustness and minimum gain. Lastly we compare the performance of our method against several others from the recent literature. |
| Keywords: | Linear systems Pole placement Optimal control |
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