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Computational experience with robust pole assignment algorithms

Two algorithms for robust pole assignment by state feedback, proposed by Kautsky, Nichols and Van Dooren (1985) and by Tits and Yang (1996) are briefly reviewed. MATLAB code implementations of these algorithms, place (from the MATLAB Control System Toolbox) and robpole (from SLICOT), are then numerically compared on randomly generated test data sets, as well as on examples from two benchmark collections, in terms of the robustness (insensitivity of poles to variations in plant parameters) of the closed-loop systems they produce. The functions place and robpole are also compared with each other, as well as with the (non robust) pole assignment code pass (from SLICOT) in terms of CPU time and accuracy of the pole assignment.