Pole-shifting procedure for multivariable systems using output feedback

A method is put forward for the pole allocation of linear multivariable systems using output feedback. The necessary and sufficient conditions for pole allocation are established and a method is given for calculating the output feedback matrix for attainable poles. The analysis, which is based on frequency-domain techniques, employs an equivalent single-input system to treat the multi-input system. A feature of the method is that the tightness of the feedbacks can be weighted relative to each other, although this may reduce the attainable set of closed-loop poles. The method is readily computerised, and an algorithm is established which generates a near attainable set of poles when the specified set is unattainable.