Controller design by pole placement

In classical methods of control law design, the designer introduces a structure for the controller and then several parameters within that structure are chosen to yield a response that meets specifications. Design work is usually done with the transfer function, either in a complex plane (as in root locus) or in the frequency domain (Bode-Nyquist-Nichols). The mathematics of pole placement design are as useful and interesting as many of the results, and therefore this chapter considers many variations on the basic problem: the essential result is that under certain conditions the poles of the closed-loop system may be placed at arbitrary locations of the designer’s choice.