Parameter optimized hyperstable controllers

A parameterization of hyperstable linear time-invariant controllers is proposed, where the free parameters are to be determined by parameter optimization in order to meet various design requirements of the closed-loop system. The class of hyperstable controllers is of special importance since a control loop with hyperstable controller is guaranteed to be stable as long as the plant remains hyperstable despite model uncertainties. As a tool for deriving hyperstable parameterizations a modified controllable canonical form is introduced, which allows a block-wise and parameter-continuous placement of eigenvalues