Pole assignment using matrix generalized inverses

The problem of pole assignment in a completely controllable linear time-invariant system dx/t = Ax + Bu, y = Cx is considered. A method using matrix generalized inverses is developed for the computation of a matrix K such that the matrix A + BK has prescribed eigenvalues which need satisfy only the condition that a certain number of them are distinct and real; then a feedback law of the form u = r + Kx can be used to achieve the desired pole-placement. The method does not require solution of sets of non-linear equations or manipulation of polynomial matrices, and no knowledge of eigenvalues and/or eigenvectors of A is necessary. If the computed matrix K and the given matrix C satisfy a consistency condition, a matrix Kν such that KνC = K can be directly obtained from K and the desired pole-placement can be realized by an output feedback law u = r + Kνy.