Compensator Design for Robust Eigenstructure Assignment via Sylvester´s Equation

For a linear time invariant multivariable system, this paper describes a procedure for the design of a dynamic compensator that stabilizes the closed loop system and causes the closed loop system eigenstructure to be robust in the sense of making the eigenvector set maximally orthonormal. The procedure consists of solution of Sylvester´s equation and a least square problem. Both these problems can be solved by efficient and numerically stable algorithms for which standard software is available. Numerical examples will be given in later section.