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A. Weinmann:
"Eigenvalue assignment for robust controllers of enhanced order";
E&I Elektrotechnik und Informationstechnik, 121 (2004), 7/8; S. 268 - 274.

For SISO control, eigenvalue assignment is performed
in frequency domain, additionally subject to one or several
conditions on performance, robustness or stability margin.
This can be achieved by implementing
the controller with enhanced
order, i.e., higher than the order of the plant.
Incremental learning is used for obtaining a given H_inf norm.

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