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A modified Schur method for robust pole assignment in state feedback control. (English) Zbl 1309.93067

Summary: Recently, a SCHUR method was proposed in E. K. W. Chu [”Pole assignment via the Schur form”, Syst. Control Lett. 56, No. 4, 303-314 (2007; Zbl 1112.93025)] to solve the robust pole assignment problem in state feedback control. It takes the departure from normality of the closed-loop system matrix \(A_c\) as the measure of robustness, and intends to minimize it via the real Schur form of \(A_c\). The SCHUR method works well for real poles, but when complex conjugate poles are involved, it does not produce the real Schur form of \(A_c\) and can be problematic. In this paper, we propose a modified Schur method, which improves SCHUR when nonreal poles are to be assigned. Besides producing the real Schur form of \(A_c\), our approach also leads to a relatively small departure from normality of \(A_c\). Numerical examples show that our modified method produces better or at least comparable results than both place and robust pole algorithms, with much less computational costs.

MSC:

93B55 Pole and zero placement problems
93B35 Sensitivity (robustness)
93B52 Feedback control

Citations:

Zbl 1112.93025

Software:

CAREX; DAREX
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Full Text: DOI arXiv

References:

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