On parametric stability margin maximization using state feedback pole assignment

In this paper, the maximization of the parametric stability margin of state-space uncertain systems under the constraints of pole assignment is investigated. The class of systems considered is where the uncertainty may be modelled as the, possibly nonlinear, variation of a parameter appearing in the entries of the system and input matrices. The continuity and differentiability of the stability margin are discussed. A gradient-based procedure is formulated for the maximization of the stability margin with the corresponding gradient provided. Numerical examples are used to illustrate the technique