Bass–Gura Formula for a Linear Systemwith Dynamic Output Feedback

In this paper, we solve the problem of assigning the desired characteristic polynomial of a linear time-invariant single-input dynamical system with output dynamic feedback in the form of a first-order dynamic compensator. Necessary and sufficient conditions for the existence of the solution to the problem are considered. An explicit formula for the compensator parameters, analogous to the Bass–Gura formula for a state feedback system, is derived.