Sensitivity analysis of the feedback synthesis problem

Sensitivity analysis of the feedback synthesis problem (FSP) for linear multivariable systems is presented. Both local linear and nonlocal nonlinear perturbation bounds are derived using the Schur form of the closed-loop state matrix. Condition numbers for the general FSP and the pole assignment problem in particular are given. Restrictions are imposed only on the degrees of the invariant polynomials of the closed-loop matrix but not on its spectrum.