Polynomial pole placement revisited: Application to active control of car longitudinal oscillations

This paper generalizes the pole placement method to the case of improper transfer. In that case, the minimal order solution may be non unique. After some illustrating examples, the problem of active control of a vehicle drivetrain is investigated. The control design is based on a simplified model including a non proper approximation of the delay. A methodic choice of the closed loop poles leads to a controller which is tested on the nonlinear drivetrain model.