The shifting of movable eigenvalues in uncontrollable singular systems

A feedback design method for an uncontrollable singular system is proposed by which a set of possible state feedback gains can be designed to shift certain eigenvalues to other real or complex scalars. The method can be applied to single- or multi-input systems, and if so the method obtains non-unique possible feedback gains. If the original system is regular, real and impulse free, the closed-loop system also preserves these properties.