Minimal order compensator for robust pole assignment in the multivariable case

We present a method for robust pole assignment using a compensator for linear time invariant, controllable and observable multivariable systems with incomplete state observations. The method is based on the design of a robust dynamic compensator of minimal order, to be placed in the feedback path, thus obtaining in this way the assignment of the poles of the augmented system, without the use of an observer for missing state variables. An example is presented.