A methodology for robust eigenstructure assignment for multivariable feedback systems is presented. The algorithm is based upon a pole placement technique using projections onto subspaces of admissible eigenvectors. We introduce new ideas to generate target (desired) sets of unitary eigenvectors and determine optimal feasible eigenvectors in a least-square sense. We also establish useful connections between the pole placement by independent modal space control and the method introduced in this paper. A multicriterion optimization algorithm is also presented, which takes efficient advantage of the present eigenstructure assignment method. These developments show significant improvement over an earlier version of this algorithm in both computational cost and accuracy. This optimization process appears to be numerically robust and suitable for highdimensional multicriterion optimizations; it is especially attractive for computer-aided design of control systems.
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