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In this article, an improved method for eigenvalue assignment via state feedback in the linear time-invariant multivariable systems is proposed. This method is based on elementary similarity operations, and involves mainly utilisation of vector companion forms, and thus is very simple and easy to implement on a digital computer. In addition to the controllable systems, the proposed method can be applied for the stabilisable ones and also systems with linearly dependent inputs. Moreover, two types of state-feedback gain matrices can be achieved by this method: (1) the numerical one, which is unique, and (2) the parametric one, in which its parameters are determined in order to achieve a gain matrix with minimum Frobenius norm. The numerical examples are presented to demonstrate the advantages of the proposed method.

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