Pole assignment via the schur form

We propose an algorithm for the state-feedback pole assignment problem. The algorithm is the first of its kind, making direct use of the Schur form, and minimizing the departure from normality of the closed-loop poles for a given first Schur vector x1x1. The robust pole assignment problem can then be solved via choosing x1x1 optimally. Several numerical examples were presented to illustrate the feasibility of the algorithm.