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arXiv · 1410.2989

A Modified Schur Method for Robust Pole Assignment in State Feedback Control

Guo Zhen-chen·Cai Yun-feng·Qian Jiang·Xu Shu-fang
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Abstract

Recently, a \textbf{SCHUR} method was proposed in \cite{Chu2} 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 \textbf{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 put forward a modified Schur method, which improves the efficiency of \textbf{SCHUR} when complex conjugate 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 \textbf{place} and \textbf{robpole} algorithms, with much less computational costs.

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Guo Zhen-chen, Cai Yun-feng, Qian Jiang, Xu Shu-fang. 2014-10-11. A Modified Schur Method for Robust Pole Assignment in State Feedback Control. https://arxiv.org/abs/1410.2989

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