Algorithm for Decoupling and Complete Pole Assignment of Linear Multivariable Systems
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Abstract
The problem of decoupling and complete pole assignment of linear square, and controllable systems by static state feedback is addressed in this paper. Based on a characterization of the whole set of attainable finite pole-zero structures of a decouplable system, we present a reliable numerical algorithm which tests the conditions for decoupling and computes the state feedback which decouples the system with a particular pole-zero finite structure, avoiding unnecessary cancellations of invariant zeros. With the use of this algorithm, fixed decoupling poles are determined, non-fixed poles can be arbitrarily located, and no cancellation of system invariant zeros is produced, if this is not necessary for decoupling