A new sufficient condition for generic pole assignment by output feedback

We show that for strictly proper systems with
m
outputs,
l
inputs (
m \geq l
), McMillan degree
n
, and controllability indexes
\lambda_{1} \geq \lambda_{2} \geq ...\geq \lambda_{1} >0
, one can in the generic case arbitrarily assign min
((q + 1)m + q + b(l - 1), n + q)
closed-loop poles with a proper order
q
compensator. This represents an improvement over results reported earlier in the literature.