Professional Documents
Culture Documents
Chapter 6 Controllability and Obervability
Chapter 6 Controllability and Obervability
Chapter 6 Controllability and Obervability
Obervability
Controllability:
whether or not the state-space equation can
be controlled from input.
Observability:
whether or not the initial state can be
observed from output.
6.2 Controllability
Consider the n-dimensional p-input equation
x& = Ax + Bu
6.3 Observability
The concept of observability is dual to that
of controllability.
Controllability studies the possibility of
steering the state from input.
Observability studies the possibility of
estimating the state from output.
2
(O v ) := CA = n
1
CA
2
O n q +1 = CA
CA
A12 x c Bc
x + u
Ac c 0
x
Cc ] c + Du
x c
p1
.
.
where n2 rows are any n2
p n
0 x o Bo
x + u
A o o Bo
xo
0] + Du
x o
y = [Cco
0 Cc o
A13
A23
Aco
A43
0 x co Bco
A24 x co Bco
+
u
0 x co 0
Ac o x c o 0
0]x + Du
Theorem 6.8
1. The state equation in Jordan form is controllable
if and only if {bl11, bl12, bl13} are linearly
independent and {bl21, bl22} are linearly
independent.
2. That is observable if and only if {cf11, cf12, cf13}
are linearly independent and {cf21, cf22} are
linearly independent.
is nonsingular.
3. nnp controllability matrix
Cd = [ B AB A 2 B ... A n 1B]
Od =
.
n 1
CA
x& ( t ) = Ax ( t ) + Bu ( t )
If the input is piecewise constant or
u[k] := u[kT] = u(t) for kTt<(k+1)T
then the equation can be described by
x[ k + 1] = Ax[ k ] + Bu[ k ]
with
A = e AT
B = ( 0T a At dt ) B =: MB
we have
( t 2 , t ) B( t ) = ( t 2 , t ) M 0 ( t )
Using
( t 2 , t ) = ( t 2 , t ) A( t )
t
, we compute
d
[ ( t 2 , t ) B( t )] = [ ( t 2 , t )]B( t ) + ( t 2 , t ) B( t )
t
t
dt
= ( t 2 , t )[ A( t ) M 0 ( t ) +
d
M 0 ( t )] = ( t 2 , t ) M1( t )
dt
Thus, we have
m
t
( t 2 , t ) B( t ) = ( t 2 , t ) M m ( t )
N n 1( t1 )
where
N m +1( t ) = N m ( t ) A( t ) +
with N0 = C(t)
d
N m (t)
dt