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An explicit parametric expression for the controller gain matrix in linear state-variable feedback is derived. It involves both the case where the set of closed-loop eigenvalues does not include any open-loop eigenvalue, and the case where the two eigenvalue sets have elements in common. Some advantages of this new explicit parameterization of the controller gain matrix are illustrated by two numerical examples.
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Günter Roppenecker (1986) studied this question.
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