The compact analytic formula of calculating the feedback law (controller matrix) coefficients is developed for solving the synthesis problem of modal controller providing desired pole placement by means of the fully measured state vector in linear dynamic systems with vector control. This formula represents the generalization of the known Bass --- Gura formula, used for synthesizing modal controllers in systems with scalar control, to systems with vector control. The obtained solution is applicable to systems with state-space dimension divisible by the number of control inputs and the matrix composed of the linearly independent first block columns of the Kalman controllability matrix by a number corresponding to the quantity of the mentioned multiplicity is reversible. To use the mentioned formula, it's not required to additionally transfer the described systems of the indicated class to special canonical forms. This formula may be applied to solve both numeric and analytic problems of modal control in mentioned class, independently on a specific ratio of state-vector and control-vector dimensions as well as on existence and multiplicity of real-value poles and complex-conjugate pairs of poles in original and desirable spectrums of state matrix. The examples are considered that prove the possibility of applying the generalized block-matrix Bass --- Gura formula to calculate modal controllers for the described class of systems with vector control
Pole placement in uncertain dynamic systems by variance minimisation