A Modified Schur Method for Robust Pole Assignment in State Feedback   Control
  Recently, a \textbf{SCHUR} method was proposed in \cite{Chu2} to solve the robust pole assignment problem in state feedback control. It takes the departure from normality of the closed-loop system matrix $A_c$ as the measure of robustness, and intends to minimize it via the real Schur form of $A_c$. The \textbf{SCHUR} method works well for real poles, but when complex conjugate poles are involved, it does not produce the real Schur form of $A_c$ and can be problematic. In this paper, we put forward a modified Schur method, which improves the efficiency of \textbf{SCHUR} when complex conjugate poles are to be assigned. Besides producing the real Schur form of $A_c$, our approach also leads to a relatively small departure from normality of $A_c$. Numerical examples show that our modified method produces better or at least comparable results than both \textbf{place} and \textbf{robpole} algorithms, with much less computational costs. 
Guo Zhen-chen, Cai Yun-feng, Qian Jiang and Xu Shu-fang
math.OC