An analysis of the pole placement problem. II: The multi-input case (Q1381049)

[For Part I see ibid. 4, 89-105 (1996; Zbl 0890.65036).] In the second part of the paper, which is devoted to the multi-input pole placement problem, the authors derive explicit formulas for the subspace for which the feedback gain matrix can be chosen as well as for the eigenvector matrix of the closed-loop system. The problem of assigning a specified Jordan structure to the closed-loop system, and a diagonal form, in particular, is investigated in detail. Based on the formulas obtained, the conditioning of the pole placement problem in terms of perturbations in the data is studied and it is shown how the conditioning depends on the condition number of the closed-loop eigenvector matrix and on the distance to uncontrollability. An example of pole assignment for a 20th order system is presented.