Mathematica implementation of output-feedback pole assignment for uncertain systems via symbolic algebra

This paper presents the application of symbolic algebra techniques to the MATHEMATICA implementation of a set of output-feedback pole assignment algorithms for systems characterized by parametric uncertainty. For multivariable systems there may be more than one feedback matrix solution leading to the same closed-loop poles based on the same algorithm used. Thus over-parameterized solutions are sought by generalizing the existing algorithms with extra degrees of freedom retained in the symbolic variables. The general parametric form of output-feedback compensators is developed in terms of the uncertain parameters and symbols representing the extra degrees of freedom. The implementation of three output-feedback pole assignment techniques is presented, with the theory briefly introduced and examples illustrating the effectiveness of the algorithms described.