Minimax control

It is well known that for a controllable system the closed loop poles can be placed where ever one desires by appropriate choice of the feedback control law. However when only some part of state vector is available for use in constructing the feedback controller it is a more formitable problem to decide what closed loop pole configurations are possible. In this paper, we consider generalized coupled harmonic oscillators, with a scalar control constrained to feedback only the velocity vector and producing stable closed loop systems, optimal rate feedback in view of the results of Kalman on the inverse problem.