Robust partial pole-placement via gradient flow

This paper provides a computational procedure for the robust partial pole-placement problem. The algorithm is based on a gradient flow formulation on a differentiable potential function which provides a minimizing solution for the Frobenius condition number of the closed-loop state matrix. The algorithm faces no singularity problem with the resulting eigenvector matrix. Convergence properties of the algorithm are discussed. A numerical example is employed to illustrate the technique and comparison to other existing methods is made.