Arbitrary pole placement via low order dynamic output feedback controllers: a solution in closed form

The problem of pole assignment, by (n/sub 1/ McMillan degree) low order dynamic output feedback controllers, is studied for minimal systems described by a proper transfer function matrix G(s)/spl isin/R/sup mxp/(s), with McMillan degree n. In this context the problem is reduced to solving a set of linear equations and this without losing any of the degrees of freedom of the controller. It is shown that the method works generically when n/sub 1//spl ges/n/sub 1/', where n/sub 1/' is the smallest multiple of p satisfying n/sub 1/'(m+p)+mp>n+n/sub 1/'. The framework used here allows also computation of families of controllers, which solve the problem, when solutions exist.