In this paper, we present a parametric method to design proportional plus derivative (PD) state feedback for the problem of partial eigenstructure assignment (PESA) in a type of descriptor high-order linear time-invariant (LTI) systems. By dividing the original eigenstructure into replaced and remaining parts and using the solutions to the high-order generalized Sylvester equations (HGSEs), complete parameterized expressions of PD feedback controller and the replaced part of the right eigenvector matrix are established. With the proposed approach, the unsatisfactory eigenstructure in the open-loop system is changed into the expected eigenstructure in the closed-loop system, while the satisfactory part in the open-loop system is retained. Meanwhile, the regularity of the closed-loop system can also be well-guaranteed by the selection of arbitrary parameters. Finally, a numerical example and a flexible-joint robot system are presented to verify the feasibility and effectiveness of the proposed method, respectively.
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