Robust pole assignment via the Schur-Newton algorithms

In [6], the pole assignment problem was considered for the control system ẋ = Ax + Bu with linear state-feedback u = Fx. An algorithm using the Schur form has been proposed, producing suboptimal solutions which can be refined further using optimization. In this paper, the algorithm is improved, with a weighted sum of the feedback gain and the departure from normality being used as the robustness measure. Newton refinement procedure is implemented, producing optimal solutions. Several illustrative numerical examples are presented.