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2021.11.23
Chapter5 Obseverbased feedback
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AB is controllable if theeigenvalueof AtBKcan befreely
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K
assigned by 呵is observable
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s
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au iIn a.A anyIn
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Chapter 6 Gutwllabity Observatory nho
AB is controllable if theeigenvalue of AtBk 品
Binxm

can befreelyassignedbythematrix k

X Axt Bu A
lnkx this observable
fthe eigenvalue
of Atc
ng.cx x_x By canbefreelyassignedbythemat以

4is IA ATE
observable is controllable

state⼩
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Eigenvalues of Alci ⼆ Eigenvalues

of ALC
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Ǎǐ
n
IAI
raukwk mcB
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Cayey Hamilton 3 Eigenvalues

of AtBk
AENY can'tbefreelyassigned
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At aA anIn 0 limpnk 化⼯Amy
BImk
whereaisaredweùentofthe ǏA Bm
characteristic
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m k Im fnxcntm A
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some SEC
Snr 三Eigenvalues ofA
rank Is EABJ
Controllability mat以

G BABA BI
Lemma I

Jfl A transformation
B is controllable thenHAT TB forall īnverūbleT areallcontrollable
state doesnotaffectcontrollability

AtBK s eigenvalues canbefreelyassignedby K

FT'AT 5 i B Ā 5ETA T TBE

Iet I ⼆ KT Āt BE T At BK T
lemmaZ
hhhiy
⼦ Ā5
nxnnxm
Ā 5 is controllable Ō is fullrank fm
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N
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bD hD h u
D d D a.D an y
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焦噬 aiu

去 bD bz肌 bn 131

X Xz
X3

xn u axn azxni n

an y
b.xntbzxn.lt bnx

Is IA1 5 as an

i
A ⼝ ABKĪ Hlkkinnnnniliik
i xioolo.no
oion.o
火 0
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an an i a.in i ki xi
y bnbm h
i
Aiiiii Bff AB⼆年 AFAAB
c.in lāǜ
 BABǍB
I ǛL Lowertrianglemat以 ⼆ 1BABFB A B l 1

MIMO B矩陣变⼤ 5 ⼆年
只要 ⼀⾏是此⾏式
有
T controllabilityconouīcal
AB s Ā5
if O BABÁB A BJ is frank n I invertible TER St IBABÁB fb TIBĀB Ā 5
nxn
nxlmn
FTB By Cayley_HamiltonTheorem
AB TĀTB
⼆
Ān⼆ hearspanof CIA f A FTAB T
TFTTB
fati_an o
T' i 以 AB Ting
Ǎb T T'T'B ie f B TĀTB 1 0，1，2

AB TĀTB ⼆
AHĀKT B TĀĀKTB i
A B TTTB AT f5 TĀĀK5 P Q Q P
i
AT TĀ 51 0 K 0，1 n 1
AFTĀIIBĀB A B 0
fullrank
rank n

AT TĀ A TĀT B TB

of 3
proof

rank 0 rlrcn
thenullspaceof 0 has dimension nr
I nunspace
foranyGEN ⼼ qiQO.ie EB 0 ÉAB 0 qiÁB⼆0 it B 0
ByCayley_Hamilton Theorem GO 0 GTA0 0 EĀQO lATqi
NlOTTT.The
nullspaceof U isexactlythesame as theinvariantsubspace M
GEM
off withdimension nr

M N ⼼
AGEM
eigenvectors G qz qur ÉA ⼆ SÉ GT s I A 0
eigenvalues ⼩ ⽔ 以 xm FB 0
i.hr eigenvalues can'tbe ÉEIAB 0
freelyassignedby k rank Is IAB ran
Overlap Perspective on Controllability Obsewabīlity