Output feedback pole-assignment procedure

A new algorithm based on pole-assignment considerations for linear time-invariant m-input p-output systems by means of static output feedback is presented for the case in which the number of inputs m and the number of outputs p are less than the order of the system n. This algorithm determines the output-feedback matrix required to assign max (p, m) - 1 poles, and simultaneously calculates the coefficients of the residual polynomial, the roots of which are the remaining unassigned poles. The root-locus method is used to find an appropriate feedback gain to provide acceptable locations for the unassigned poles. Some numerical examples are provided to illustrate this method.