Sensitivity minimization with pole assignment in SISO systems

A linear parametrization of all stabilizing compensators of maximum prescribed order was proposed by G. Celentano and G. De Maria (Proc. IEE part D, 1989). This parametrization allows location of the closed-loop poles and utilization of some free parameters in order to optimize performance indexes like sensitivity and robustness. An application of the same parametrization to the problem of minimizing the closed-loop sensitivity function of a system whose dynamic behavior has been prescribed by assigning the closed-loop system pole location is presented. Two sensitivity minimization procedures are described. The first one is based on polynomial interpolation, and the second is a graphical one.<>