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Lec7 Lcs
Lec7 Lcs
SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
Lecture 7
Lecture 7
x Ax bu
(I )
y cx du
Definition 1:The state equation (I) or the pair (A,b) is said to be controllable if
for any initial state x0 and any final state x1, there exists an input that transfers
x0 to x1 in a finite time. Otherwise (I) or (A,b) is said to be uncontrollable
ورودی ای، x1 و برای هرx0 ( را کنترل پذیر گویند اگر برای هرA,b) ( یا زوجI) معادالت:1تعریف
( یا زوجI) در غیر اینصورت معادالت. برساندx1 را در زمان محدود بهx0 وجود داشته باشد که
( را کنترل ناپذیر گویندA,b) 3
Dr. Ali Karimpour Feb 2013
Lecture 7
Controllability test
تست کنترل پذیری
x Ax bu
(I )
y cx du
Theorem 1:The state equation (I) or the pair (A,b) is controllable if and only if
0 1 0 0
0 0 1
x 0 1 x 0u
S [b Ab A2b] 0 1 6
0
6 11 6 1
1 6 25
y [1 1 0]x
0 0 1
S 0 1 6 1
1 6 25
x Ax bu
(I )
y cx du
Definition 2:The state equation (I) or the pair (A,c) is said to be observable if
for any unknown initial state x0 , there exists a finite time t1 > 0 such that the
knowledge of the input u and the output y over [0,t1] suffices to determine
Uniquely the initial state x0. Other wise, the equation is unobservable.
x Ax bu
(I )
y cx du
Theorem 2:The state equation (I) or the pair (A,c) is observable if and only if
c
cA
cA2
V 0
.
.
cAn 1 7
Dr. Ali Karimpour Feb 2013
Lecture 7
Example 2 : Check the observability of following
system رویت پذیری سیستم زیر را بررسی کنید:2 مثال
0 1 0 0
c 1 1 0
x 0 0 1 x 0u
V cA 0 1
1
6 11 6 1
y [1 1 0]x cA2 6 11 5
x Ax bu 1
Eigenvalues of A
.
y cx du 2 . 3 A مقادیر ویژه
n
i I A| b
9
Dr. Ali Karimpour Feb 2013
Lecture 7
x Ax bu 1
Eigenvalues of A
.
y cx du 2 . 3 A مقادیر ویژه
n
i I A
c
10
Dr. Ali Karimpour Feb 2013
Lecture 7
Example 3: Check the observability and
controllability of each mode
. کنترل پذیری و رویت پذیری هر مود را بررسی کنید: 3 مثال
. 2 1 1 s 2 1
x x r (t ) sI - A ( s 1)( s 2) 1 1, 2 2
0 1 0 0 s 1
y [1 1]x
1 2
S S 0 It is not completely controllable
0 0
Controllab ility of 1 1 :
1 1 1
not
full
row
rank
1 1 is not controllab le
0 0 0
Controllab ility of 2 2 :
0 1 1
full row rank 2 2 is controllab le
0 1 0 11
Dr. Ali Karimpour Feb 2013
Lecture 7
Example 3 : Check the observability and controllability of
each mode (continue)
کنترل پذیری و رویت پذیری هر مود را بررسی کنید: 3 مثال
.)(ادامه
. 2 1 1 s 2 1
x x r (t ) sI - A ( s 1)( s 2) 1 1, 2 2
0 1 0 0 s 1
y [1 1]x
1 1
V V 0
It is completely observable
2 0
0 1 0 0
x 0 1 x 0u
1
0 G( s)
( s 2)( s 3)
6 11 6 1
y [1 1 0]x Poles of system
Eigenvalues of A قطبهای سیستم
1 3 p1 3
A مقادیر ویژه
2 2
p2 2
3 1
1 - It is not controllab le or
2 - It is not observable or
What happened to -1 ? 3 1
3 - It is not controllab le
and not observable 13
Dr. Ali Karimpour Feb 2013
Lecture 7
x Ax bu
Similarity transformation
w Aˆ w bˆu
w Px
y cx du Aˆ P A P 1 bˆ Pb y cˆw dˆu
cˆ cP 1 dˆ d
sI A 0 sI Aˆ 0
ˆ
sI A sPP 1
PAP 1
P ( sI A) P 1
P sI A P 1
sI A
Similarity transformation doesn’t change the eigenvalues.
تبدیل همانندی مقادیر ویژه را تغییر نمی دهد 15
Dr. Ali Karimpour Feb 2013
Lecture 7
Sˆ bˆ Aˆ bˆ Aˆ 2bˆ ... Aˆ n1bˆ Pb PAP1Pb PA2 P 1Pb ... PAn 1P 1Pb
Pb
PAb PA2b ... PAn 1b P b Ab A2b ... An 1b PS
Sˆ PS P S
18
Dr. Ali Karimpour Feb 2013
Lecture 7
0 1 0 ... 0 0 0 0 ... 1
0
0 0 0 0
0 1 ...
0 0 ...
x .. .. .. ... .. x . u S .. .. .. ... ..
S 0
0 0 0 ... 1 0 0 1 ...
... 1 1 ...
y [ ... ]x
0 1 0 0
x 0 0 1 x 0u
2s 1
8 14 7 1 G( s)
s 3 7 s 2 14s 8
y [1 2 0]x 19
Dr. Ali Karimpour Feb 2013
Lecture 7
0 0 0 ...
1 0 0 ... 0 0 ... 0 1
0
x 0 x u 0 ... 1
1 0 ... V V 0
.. .. .. ... ..
.. .. .. ... .. .
0 0 0 1 1 ...
y [ 0 0 0 ... 1]x
0 0 8 1
x 1 0 14 x 2u
2s 1
0 1 7 0 G( s)
s 3 7 s 2 14s 8
y [0 0 1]x 20
Dr. Ali Karimpour Feb 2013
Lecture 7
4 0 0 7
x 0 2 0 x 3 u (0.17)( 7) (0.5) (3) (0.33) (1)
g (s)
0 0 1 1 s4 s2 s 1
y [0.17 0.5 0.33]x 21
Dr. Ali Karimpour Feb 2013
Lecture 7
1 1 0 ... 0
0 0 ... 0 b1
1
x 0 0 2 ... 0 x b2 u
.. .. .. ... .. .
0 0 0 ... r br
y [ c1 c2 ... cr ]x
1 1 1 1 0 S 1 0
x x u S System is
0 1 1 1 1 controllable
q 1 q is last row 1 1
P q [0 1]S P
qA of S-1 1 0
ˆ 1 0 1 ˆ 0
A PAP b Pb
1 0 1
0 1 0 Controllable
w w u
1 0 1 canonical form 23
Dr. Ali Karimpour Feb 2013
Lecture 7
1 2 1 0 1 System is
P q Aq
1
x x u V observable
2 1 1 2 1
y [0 1]x
q is last
0
1 2 1
q V column P
1 of V-1 0 1
ˆ 1 0 5 ˆ 3 cˆ cP 1 0 1
A PAP b Pb
1 2 1 dˆ d 0
0 5 3
w w u Observable
1 2 1 canonical form 24
y [0 1]w Dr. Ali Karimpour Feb 2013
Lecture 7
TF
Mason’s rule
c( s ) 1
G( s) 2
r ( s ) s 5s 4
Exercise
2 1 3 0
1- Find the modes of following system.
x 0 3 2 x 1 u
1 4 1 0
3 6 4 6
3- Check the controllability and observability x 1 2 2 x 3u
of every mode in the following system. 1 6 6 4
y [2 2 1]x
30
Dr. Ali Karimpour Feb 2013
Lecture 7
Exercise (Cont.)
Answer: All modes are controllable. -1 and -4 are observable but -2 is not 31
observable. Dr. Ali Karimpour Feb 2013
Lecture 7
Exercises (Cont.)
Exercises (Cont.)
9- Check the controllability and observability of the following system
by transfer function method.
+ 1
+ s2
1 +
3
s +
Exercises (Cont.)
12- Find a state space realization for following system such that it is
neither observable nor controllable.(Final 1391)
s2
g (s)
s 1
34
Dr. Ali Karimpour Feb 2013