Repeated eigenstructure assignment in the computation of friends of output-nulling subspaces

Abstract

This paper is concerned with the parameterisation of basis matrices and the simultaneous computation of friends of the output nulling subspaces V*, V*g and R* with the assignment of the corresponding inner and outer closed-loop free eigenstructure. Differently from the classical techniques presented in the literature so far on this topic, which are based on the standard pole assignment algorithms and are therefore applicable only in the non-defective case, the method presented in this paper can be applied in the case of closed-loop eigenvalues with arbitrary multiplicity.