Abstract
In this paper, a technique for computing robust controller for multivariable time-invariant linear systems via state-derivative feedback is introduced such that the sensitivity of the closed-loop system eigenvalues to perturbations in the system and gain matrices is minimized. The proposed technique can be applied for any controllable system with some restrictions when assigning zero poles. This article focuses on the derivation of feedback gain when the open-loop state matrix is singular. The available degrees of freedom offered by state-derivative feedback for multivariable system are utilized to improve robustness of the closed-loop system. Finally, a computational algorithm and a numerical example are introduced to demonstrate the effectiveness of the proposed technique.