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The general problem of pole assignment in a linear, time-invariant multivariable system via output feedback is considered. It is shown that given a controllable-observable system (C,A,B) in whichA ∈ Rn × n, rankB = m, rankC = r, then for almost all (B,C) pairs,min (n,m + r-1)poles can be assigned arbitrarily close tomin (n, m + r-1) specified symmetric values by using output feedback.
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Davison et al. (1975) studied this question.
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