Because the behavior of the condition number can have highly steep and multi-modal structure, optimal control and monitoring problems based on the condition number cannot be easily solved. In this paper, a minimization problem is formulated for κ2(P), the condition number of an eigensystem (P) of a matrix in terms of the L2 norm. A new non-normality measure is shown to exist that guarantees small values for the condition number. In addition, this measure can be minimized by proper selection of controller and observer gains. Application to the design of well-conditioned controller and observer-based monitors is illustrated.

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