Proportional-plus-multiple derivative output feedback A new multivariable controller for pole placement

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Abstract
The paper introduces a new class of multi variable output feedback controllers consisting of proportional and multiple derivative terms. The closed-loop systems resulting from a general structure and a unity-rank structure controller are studied and it is found that the latter is preferable. A simple procedure is then described for the design of unity-rank controllers for pole placement in a linear multivariable system. It is shown that all system poles can be placed, provided the controller contains a sufficient number of derivative terms. For the case where the derivative terms are restricted, a method is given to place a number of poles. The methods are illustrated by numerical examples.

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