Pole assignment by output feedback using cylindrical algebraic decomposition

Recently, a new polynomial method for pole assignment by static output feedback has been developed. In this paper, we show how this method can be generalized to partial pole–clustering (some poles are exactly assigned, the others being clustered in a specified region of the complex plane). A constructive and systematic algorithm for the numerical resolution of both problems, the Collins cylindrical algebraic decomposition algorithm, is presented and applied to an illustrative example.