Eigenstructure assignment in linear geometric control

The focus of this paper is the connection between two foundational areas of linear time-invariant (LTI) systems theory: geometric control and eigenstructure assignment. In particular, we study the properties of the null-spaces of the reachability matrix pencil and of the Rosenbrock system matrix, which have been extensively used as two computational building blocks for the calculation of pole placing state feedback matrices and pole placing friends of output-nulling subspaces. Our objective is to show that the subspaces in the chains of kernels obtained in the construction of these feedback matrices interact with each other in ways that are entirely independent from the choice of eigenvalues. So far, these chains of subspaces have only been studied in the case of stationarity. In this case, it is known that these chains converge to the classic Kalman reachable subspace ℛ for the reachability matrix pencil and to the largest reachability subspace ℛ⋆ in the case of the Rosenbrock matrix, respectively. Here we are interested in showing that even before stationarity has been reached, the partial chains are linked to structural properties of the system, and are therefore independent of the closed-loop eigenvalues that we wish to assign. We further characterize these subspaces by investigating the notion of largest subspace on which it is possible to assign the closed-loop spectrum (possibly maintaining the output at zero) without resorting to non-trivial Jordan forms.