Optimal eigenstructure assignment using closed loop controllability conditions by output feedback

The design procedure of robust eigenstructure assignment by output feedback is formulated as a nonlinear optimization problem. Nonlinear optimization techniques are combined with output feedback eigenstructure assignment to produce optimal system design. Necessary and sufficient conditions for the assignment of closed loop eigenvalues and their corresponding reciprocal eigenvectors by output feedback are derived. The necessary and sufficient conditions become the constraints of the output feedback nonlinear optimization problem. Optimization parameters include perturbations of closed loop eigenvalues and coefficients of the closed loop reciprocal eigenvectors. A design procedure for optimal eigenstructure assignment is developed. It simultaneously minimizes the perturbation of the desired closed loop eigenvalues while satisfying the control requirements such as system stability and response, minimal output feedback gain, state and input decoupling output and input command decoupling