Robust eigensystem assignment in multi input systems

Using simple geometric concepts it is shown that system sensitivity to parameter perturbation stems from the13; numerical ill conditioning of the normalised modal matrix (matrix of eigenvectors) to inversion, which is quantified by the absolute value of its determinant. By noting the freedom in partial selection of eigenvectors, beyond eigenvalue assignment in multi-input state feedback systems, an optimisation procedure is formulated to maximise the modal matrix determinant and thus minimise eigensystem sensitivity