Robust eigenstructure assignment combined with mixed-sensitivity optimization

A method is proposed to combine eigenstructure assignment (EA) with mixed-sensitivity H?. EA is a time domain technique while H/-infinity is a frequency domain one. The mixed-sensitivity problem can be translated analytically into function of EA design parameters. The integrated method makes the best of individual advantage in time domain (EA) and frequency domain (H-infinity). By using optimization technique, the resulting robust EA can obtain both desired locations of closed-loop eigenvalues and loop shapes in frequency domain. The case study shows the effectiveness of the design method.