G. Miminis et H. Roth, ALGORITHM 747 - A FORTRAN SUBROUTINE TO SOLVE THE EIGENVALUE ASSIGNMENT PROBLEM FOR MULTIINPUT SYSTEMS USING STATE-FEEDBACK, ACM transactions on mathematical software, 21(3), 1995, pp. 299-326
The implementation of an algorithm for the computation of a state feed
back for multiinput linear systems, resulting in a closed-loop matrix
with a specified self-conjugate set of eigenvalues, is presented. The
computation uses only real arithmetic, assigning complex conjugate eig
envalues in one double step. The implementation uses level-1 BLAS rout
ines where possible. A brief description of the algorithm is also give
n.