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Control Engineering: Dr. Ramkrishna Pasumarthy

This document provides a 3-page summary of controllability and observability for linear systems. It defines controllability as the ability to transfer a system from any initial state to any other state using control inputs. A system is controllable if a matrix formed from the A, B, AB, A^2B matrices has full rank. Observability is defined as the ability to determine the system state using output measurements over time. A system is observable if a matrix formed from the C, CA, C A^2 matrices has full rank. The document discusses conditions for controllability and observability, pole placement using state feedback, and stabilizability of partially controllable systems.

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VAISHAKA N RAJ
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332 views7 pages

Control Engineering: Dr. Ramkrishna Pasumarthy

This document provides a 3-page summary of controllability and observability for linear systems. It defines controllability as the ability to transfer a system from any initial state to any other state using control inputs. A system is controllable if a matrix formed from the A, B, AB, A^2B matrices has full rank. Observability is defined as the ability to determine the system state using output measurements over time. A system is observable if a matrix formed from the C, CA, C A^2 matrices has full rank. The document discusses conditions for controllability and observability, pole placement using state feedback, and stabilizability of partially controllable systems.

Uploaded by

VAISHAKA N RAJ
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control Engineering

Dr. Ramkrishna Pasumarthy


Department of Electrical Engineering
Indian Institute of Technology, Madras
Module 12
Lecture 3
Controllability and Observability

Control Engineering Module 12 – Lecture 3 Dr. Ramkrishna Pasumarthy 1


Controllability
 Consider a system in state space form
𝒙 = 𝑨𝒙 + 𝑩𝒖, 𝒚 = 𝑪𝒙+Du
x is a state vector (n-dimensional), u is control input
A is an 𝒏 × 𝒏 matrix, B is a 𝒏 × 𝒎 matrix,
C is a 𝒑 × 𝒏 matrix and D is a 𝒑 × 𝒎 matrix.
 Controllable:
 A system is said to be controllable at time t 0 if it is possible, by means of any
unconstrained control vector to transfer the system from any initial state
x(t0) to any other state in a finite interval of time.
 Stabilizability:
 For partially controllable system, if the uncontrollable modes are stable and
the other modes are controllable, then the system is said to be stabilizable.

Control Engineering Module 12 – Lecture 3 Dr. Ramkrishna Pasumarthy 2


Controllability
 Condition for controllability
 The solution of the system equation
𝒕
𝒙 𝒕 = 𝒆𝑨𝒕 𝒙 𝟎 + 𝒆𝑨 𝒕−𝝉
𝑩𝒖 𝝉 𝒅𝝉
𝟎
• The system is completely controllable if an only if the rank of the below 𝒏 × 𝒏𝒎
matrix
Rank [𝑩 ⋮ 𝑨𝑩 ⋮ 𝑨𝒏−𝟏 𝑩] = 𝒏

Control Engineering Module 12 – Lecture 3 Dr. Ramkrishna Pasumarthy 3


Pole placement
 Placing the closed-loop poles at desired locations, via an appropriate state
feedback u = -Kx.
 Contrast to the root-locus design methods where we place only the dominant
closed-loop poles,
 In the pole placement design we can place all the closed-loop poles at desired
locations.
 A necessary and sufficient condition for arbitrary pole placement is that the
system be completely controllable.

Control Engineering Module 12– Lecture 3 Dr. Ramkrishna Pasumarthy 4


Observability
• Observability:
 A system is said to be observable at time t 0 if, with the system in state x(t0), it
is possible to determine this state from the observation of the output over a
finite time interval.
𝒕
𝒚 𝒕 = 𝑪𝒆𝑨𝒕 𝒙 𝟎 + 𝑪 𝒆𝑨 𝒕−𝝉
𝑩𝒖 𝝉 𝒅𝝉 + 𝑫𝒖
𝒐
• The condition for full state observability is that the rank of the mn x n matrix
𝑪
𝑪𝑨
𝒓𝒂𝒏𝒌 =𝒏
⋮
𝑪𝑨𝒏−𝟏

Control Engineering Module 12 – Lecture 3 Dr. Ramkrishna Pasumarthy 5


Thank you

Control Engineering Module 12 – Lecture 3 Dr. Ramkrishna Pasumarthy 5

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