Robust eigenstructure assignment under regional pole constraints

This paper provides a computational procedure for a type of robust regional pole assignment problem. It allows the closed-loop poles to be settled at certain perturbation insensitive locations within some prespecified regions in the complex plane. The novelty of our approach lies in the versatility of the proposed algorithm which provides a rich set of constrained regions for the assignment of individual or subsets of closed-loop poles, in contrast to other conventional regional pole assignment methods. The algorithm is based on a gradient flow formulation on a potential function which provides a minimizing solution for the Frobenius condition number of the closed-loop state matrix