Control design for robust eigenstructure assignment in linear uncertain systems

A generalized eigenstructure assignment procedure is presented for designing a controller which has the best eigenstructure achievable while simultaneously maintaining stability robustness to time-varying parametric variations. The approach taken is the constrained minimization of the difference between the actual and desired eigenstructure. This minimization is made subject to the constraints of the eigenstructure equation and the closed-loop Lyapunov equation. The capability of the formulation is illustrated in the design of a mode-decoupling roll-yaw autopilot for a generic, nonaxisymmetrical airframe