A complete parametric eigenstructure assignment design approach for proportional-integral observers of multivariable linear systems is proposed. Based on a complete general parametric solution to the generalised Sylvester matrix equation, complete parameterisations for all the observer gains as well as the left eigenvectors of the observer system matrix are established in terms of three sets of design parameters. The proposed approach provides all the degrees of freedom and has great potential in applications. An example shows the effect of the proposed approach.
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Duan et al. (2001) studied this question.
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