Optimal pole placement for disturbance rejection

In this thesis; an optimization problem is considered for higher order, linear time invariant systems. The aim is to find the optimal pole locations of the system in the complex plane such that by using linear quadratic regulator, some pre-defined design specifications are guaranteed for a unit step disturbance input. The design specifications are the maximum overshoot, peak time and steady state value of the output. Although the method proposed in this thesis can be applied to multi input multi output systems, only single input-single output cases are considered. For this purpose, in this study two examples are given. These are the inverted pendulum mechanism and ball and beam mechanism, which are commonly used in control system designs.