Optimal regulator design of linear multivariable systems with prescribed pole locations in the presence of system disturbances

The paper considers the problem of optimal regulator design of linear multivariable systems with prescribed pole locations in the presence of constant system disturbances. For solution of the problem, an augmented disturbance-free system is introduced to which the known methods can be applied. The problem, however, is solved in two stages, and thus the procedure suggested avoids the computational burden due to augmentation. It has been found that, for positioning of the poles, a submatrix of the state weighting matrix in the quadratic performance index has to be of full rank. Treatment of the case when the system has a more general class of disturbances has also been discussed.