Pole assignment by dynamic feedback

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Abstract
It is shown that by dynamic feedback the closed loop transfer matrix of a linear system can be made equal to a proper rational matrix of the form v(s)T'−1(s)T−(s)T k (s) Here V(s) is the numerator polynomial matrix of the open loop transfer matrix, T'(s) is a polynomial matrix which can be chosen arbitrarily up to some degree constraints, T'2(s) is a polynomial matrix whose invariant factors can be chosen arbitrarily up to some degree inequalities, T k(s) is a polynomial matrix which is the denominator matrix in a matrix fraction description of the feedback matrix.

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