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 characterised by parametric uncertainty. For multivariable systems there may be more than one feedback matrix solutions leading to the same closed-loop poles based on the same algorithm used. Thus overparameterised solutions are sought by generalising 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.