Insensitive and robust control design via output feedback eigenstructure assignment

Insensitive and robust control design using output-feedback eigenstructure assignment for linear multivariable systems is considered in this paper. A parametric expression of closed-loop eigenvectors and generalized eigenvectors is developed, It can cope with the case where the closed-loop eigenvalues are multiple and/or the same as the open-loop ones so that the system to be designed can be uncontrollable and/or unobservable. The controller designed via output-feedback eigenstructure assignment is expressed by proposed parameter vectors. The freedom provided by output-feedback eigenstructure assignment is used to optimize some performance functions which are used to measure the sensitivity of the closed-loop matrix and the robustness of the closed-loop system. Copyright (C) 2000 John Wiley & Sons, Ltd.