New linear parameterisation of all stabilising compensators for single-input/single-output plants

A new linear parameterisation technique, for all stabilising compensators of order not exceeding a preassigned maximum order, is introduced. It ensures that the poles of a closed-loop control system lie in a given stability region. Depending on the relative orders of the plant and the compensator, a number of degrees of freedom are made available for performance design. The interpretation of the new parameterisation method in the light of classical pole-assignment methods is also presented.