Geodesic
Optimization and Pole Assignment in Control System Design
International Journal of Applied Mathematics and Computer Science, Tome 11 (2001) no. 5, pp. 1035-1053.

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Some elementary optimization techniques, together with some not so well-known robustness measures and condition numbers, will be utilized in pole assignment. In particular, "Method 0" by Kautsky et al. (1985) for optimal selection of vectors is shown to be convergent to a local minimum, with respect to the condition number 1/2 ||X||_F^2 - ln |det X|. This contrasts with the misconception by Kautsky et al. that the method diverges, or the recent discovery by Yang and Tits (1995) that the method converges to stationary points.
Keywords: condition number, linear feedback, pole assignment, robustness
Mots-clés : optymalizacja, matematyka 
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     title = {Optimization and {Pole} {Assignment} in {Control} {System} {Design}},
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Chu, E. K. Optimization and Pole Assignment in Control System Design. International Journal of Applied Mathematics and Computer Science, Tome 11 (2001) no. 5, pp. 1035-1053. http://geodesic.mathdoc.fr/item/IJAMCS_2001_11_5_a1/