Synthesis of pole-zero assignment control law with minimum control input

A method of control system design is developed to simultaneously consider the internal stability, pole assignment, reference signal tracking and control input minimisation. A parametrised design algorithm of the pole-zero assignment control law is derived to achieve the desired goals. The free parameters are used to minimise the L₂-norm of the control input signal. Since the requirements of internal stability are satisfied, this design algorithm performs appropriately, even if the plant is unstable and/or is in a nonminimum phase. Examples are given to illustrate the validity of the design algorithm.