Generic pole assignment using dynamic output feedback†

A method is presented for assigning min (n + q, (q + 1)m + q) closed-loop poles of an nth order linear time invariant system (m outputs, l inputs, m ≥ l) using a linear, time invariant, proper, output feedback compensator of order q. It is also shown how the locations of remaining unassigned poles could be controlled. The compensator parameters are obtained by solving a linear matrix equation.