Optimal pole placement design for SISO discrete-time systems

In this paper, we incorporate the placement of one real closed-loop pole into a compensator design framework based upon the Youla parameterization, duality theory, and linear programming. This framework has been used to design discrete-time compensators to solve the l₁ controller design problem as well as other related time-domain optimization problems. Previous work on these problems has focused on deadbeat systems. It is known that these can require high-order controllers. Part of the motivation for this work is to improve the tradeoff between controller order and performance over that, using deadbeat control