Robust polynomial eigenstructure assignment using dynamic feedback controllers

Abstract

This paper presents a dynamic controller format for use in polynomial eigenstructure assignment. It formulates the controller in singular-value decomposition format, which enables the designer to use simple SISO (single-input, single-output) compensators, together with direction matrices to construct the controller. The technique utilizes the root locus to evaluate stability and performance. It also introduces several metrics for decoupling, disturbance rejection, actuator movement and stability robustness in a graphical manner that allows a systematic design to be carried out. The paper also includes a two-input, two-output design example to illustrate the technique.