A design example with eigenstructure assignment control whose loop transfer function is fully realized

We present a common 4th-order, 2-input and 2-output nonminimum-phase plant system, and the systematic design of a corresponding feedback control which can assign arbitrarily given poles and the corresponding eigenvectors. The loop transfer function of this control is fully realized. This highly desirable result is not achievable by other design methods. The controller order of our design is different from the order of existing state observers and static output feedback controllers.