The well-known modal control technique has been reviewed and a new computational approach been developed. Unlike other methods, this approach is both nonrecursive and independent of the relative dimensions of the state, input, and output vectors. Also a companion modal feedforward controller is developed to compensate for measured disturbances. The development of the method is presented along with comparison to previous computational approaches. Application of the method is tested on a simulation of a complex dynamic system, and numerical results are discussed.

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