This paper is concerned with generic parametric controller design via output-feedback eigenstructure assignment for linear multivariable systems. A new parametric expression of closed-loop eigenvectors and generalized eigenvectors is developed for both real eigenvalue and complex-conjugate eigenvalue cases. It also considers the case where the closed-loop eigenvalues are multiple and/or the same as the open-loop ones so that the system to be designed can be uncontrollable and/or unobservable. The controller designed via output-feedback eigenstructure assignment is expressed by new proposed parameter vectors. The freedom provided by output-feedback eigenstructure assignment is used to optimize a performance function which is used to measure the sensitivity of the closed-loop system matrix.
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