An analysis of the pole placement problem I: The single-input case
Electronic transactions on numerical analysis, Tome 4 (1996), pp. 89-105.

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Summary: For the solution of the single-input pole placement problem we derive explicit expressions for the feedback gain matrix as well as the eigenvector matrix of the closed-loop system.
Classification : 65F15, 65F35, 65G05, 93B05, 93B55
Keywords: pole placement, condition number, perturbation theory, Jordan form, explicit formulas, Cauchy matrix, stabilization, feedback gain, distance to uncontrollability
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     author = {Mehrmann, Volker and Xu, Hongguo},
     title = {An analysis of the pole placement problem {I:} {The} single-input case},
     journal = {Electronic transactions on numerical analysis},
     pages = {89--105},
     publisher = {mathdoc},
     volume = {4},
     year = {1996},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ETNA_1996__4__a4/}
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Mehrmann, Volker; Xu, Hongguo. An analysis of the pole placement problem I: The single-input case. Electronic transactions on numerical analysis, Tome 4 (1996), pp. 89-105. http://geodesic.mathdoc.fr/item/ETNA_1996__4__a4/