Abstract
In view of the fundamental new insights into the structure of linear multivariable continuous-time systems provided by the method of entire eigenstructure assignment, the design of dynamic compensators is equivalent to the selection of pairwise-orthogonal eigenvectors and reciprocal eigenvectors from two families of well-defined subspaces which are parametrised by associated self-conjugate eigenvalue spectra. This selection is effected by the use of a powerful new algorithm which requires the performance of restricted elementary row and column operations on matrices formed from the spanning vectors of these subspaces. The digital computer implementation of the resulting procedure incorporating this algorithm is described and is illustrated by the design of an error-actuated dynamic compensator for a linear multivariable plant.
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