Decentralized dynamic pole assignment with low-order compensators

The problem of arbitrary pole placement via dynamic decentralized output feedback is studied for mini mal systems described by a proper transfer function matrix P(s) is an element of R-mxp(s) (m = Sigma m(i) and p = Sigma p(i)), with McMillan degree n. The family of controllers to be used includes those decentralized controllers with K channels whose ith channel has maximum observability index at most d(i). The method presented here is based on asymptotic linearization around a decentralized degenerate compensator of the pole placement map related to the problem. It is shown that the method works generically when m(+)p > n, where m(+) = min{d(i) (p(i) + m(i) - 1) + m(i)), i = 1,..., k, and the smallest d(i) of the compensator of the ith channel is the integral part of (n - pm(i))/p(p(i) + m(i) - 1).